Equipment and procedures for sorting and / or picking goods, in particular packages, bags, items or the like.

Abstract

The invention relates to a device (1) for sorting and / or picking goods (11), in particular packages, bags, objects or the like, comprising a number of movable transport satellites (2) each with at least one receiving device (4) for goods (11), wherein the transport satellites (2) transport the goods (11) between a receiving point and a delivery point, wherein each of the transport satellites (2) is movable both freely on a surface (7, 10) and on rail-like guides (9), in particular rail-like guides (9) above the surface (7, 10), and the receiving device (4) has a delivery device (20) which releases the goods (11) from the receiving device (4) into an area below the transport satellite (2) as required.

Description

[0001] The invention relates to a device for sorting and / or picking goods, in particular packages, bags, objects or the like, according to the preamble of claim 1, and to a method for sorting and / or picking goods according to the preamble of claim 24.

[0002] The sorting and picking of goods and items is a central logistical task throughout the entire logistics chain and, with the increasing importance of e-commerce and CEP (Courier Express Parcel) services, is gaining crucial significance for the cost-effectiveness of all goods transport. Internal transport is also becoming increasingly important within company logistics, for example, for supplying production facilities with parts and tools.

[0003] The demand for automated sorting systems has increased dramatically in recent years. Classic applications include use in hubs or sorting centers for parcels and large letters. Currently, a large portion of sorting, for example of parcels, is still done manually. In particular, sorting and handling on the so-called "last mile" accounts for up to 60% of the costs for the entire transport logistics (sorting for the delivery vehicle, loading the vehicle, and distribution). At the same time, however, the personnel required for such manual tasks are scarce due to poor working conditions and simultaneously rising labor costs. Therefore, there is a need to further reduce manual tasks within the logistics sector.

[0004] At the same time, the sorting machine manufacturing industry has relatively few suppliers of sorting solutions, who are largely booked up by demand from large customers. This generally results in long waiting times for the implementation of sorting systems. Sorting systems are highly complex, requiring numerous trades and extensive expertise, and are typically designed and built to customer specifications based on standard modular components. Such commercially available sorting systems are generally not scalable but rather designed for specific performance levels (e.g., categorized into classes based on the number of packages sorted) and are only economical if these levels are met. Furthermore, such sorting or distribution centers require large areas and significant heights, and are therefore usually planned on greenfield sites.

[0005] These sorting systems are typically designed to handle a wide variety of goods of varying dimensions, from very small to very large packages. Therefore, they are often large and highly complex, enabling them to successively sort packages of different sizes circulating in a continuous flow or cycle. While the increasing number of online orders has led to smaller packages, roughly the size of a "double shoebox," many sorting systems are designed for larger packages and are therefore oversized for many sorting tasks.

[0006] The design of conventional sorting systems is complex due to the large number of individual processes that need to be controlled and coordinated, and requires many interconnected sensors and communication devices to provide a suitable control structure. This also makes such a sorting system inflexible.

[0007] Therefore, a future-proof sorting system must be scalable and compact, adaptable to changing performance requirements, and expandable during operation. Ideally, it should have a redundant design in case of failures in individual sections.

[0008] Furthermore, increasingly sensitive goods are being transported and sorted, requiring special handling. For example, if a case of wine is ordered online, the wine, which is bottled in glass, must be elaborately packaged to withstand the high mechanical stresses during transport and sorting. This requires a large amount of packaging material, which is problematic from an environmental perspective. Moreover, such sensitive packages disrupt the sorting process. Often, the special requirements of such packages are disregarded, and they are dropped from considerable heights during sorting, for instance, when being transferred between different transport systems or placed in transport containers, etc.Furthermore, packages are often subjected to significant acceleration and abrupt deflections during automated sorting, for example, when entering and exiting the sorting process or during transport via conveyor belts, chutes, chicanes, or sorting mechanisms. Due to the high speeds required for efficiency in transporting goods within the sorting facility, only limited consideration can be given to the specific transport requirements of sensitive goods without further increasing the aforementioned proportion of manual sorting.

[0009] Conventional sorting systems are centrally designed with fixed, unchangeable input and output stations and sensor stations. They have fixed points for infeed and outfeed and are therefore inflexible. Sorting typically takes place via long paths with fixed assignments of auxiliary units to the sorting system, usually along straight or circular tracks (loops). The goods to be sorted travel fixed routes and are discharged along the way, sorting as the conveyor moves through the system.

[0010] From WO 2011 / 128 384 A1, a storage and transport system for transport containers is known in which a number of vehicles can move both on a surface and on rail systems and transport goods using load-handling devices. These goods need to be moved as part of storage in high-bay warehouses. For this purpose, the rails can be arranged above the surface, enabling a crossing-free route for transport. The entire storage and transport system is specifically designed for operation in high-bay warehouses.

[0011] Transport vehicles that move on rails, and which can partially work together with other transport vehicles that move freely on a surface, are known from DE 10 2018 213 680 A1, US 2015 / 0 239 667 A1, GB 2 544 650 A and WO 2018 / 175 910 A1.

[0012] The object of the present invention is therefore to make the sorting of goods, in particular packages or other parts, more gentle, more flexible and more scalable, and to enable integration into existing sorting solutions.

[0013] The solution to the problem according to the invention is achieved with regard to the apparatus by the characterizing features of claim 1 and with regard to the method by the characterizing features of claim 24 in conjunction with the features of the associated preamble. Further advantageous embodiments of the invention are set forth in the dependent claims.

[0014] The invention relates to a device for sorting and / or picking goods, in particular packages, items, or the like, comprising a number of movable transport satellites, each with at least one receiving device for goods, wherein the transport satellites transport the goods between a receiving point and a discharge point. Such a generic device is further developed according to the invention in that each of the transport satellites is movable both freely on a surface and on rail-like guides, in particular rail-like guides above the surface, and the receiving device has a discharge device that releases the goods from the receiving device into an area below the transport satellite as required.By using transport satellites that can move and orient themselves freely on a surface or rail-like guides, many of the requirements and problems associated with fixed sorting systems are eliminated, allowing for a largely flexible operating mode for the transport satellites. For example, each transport satellite can independently find its own route between a goods receiving point and a goods delivery point, and, in coordination with other transport satellites, optimize this route depending on the respective workload within the transport satellites' operating area. Furthermore, it is possible to load multiple goods with the same delivery point onto the same transport satellite, thus maximizing the transport capacity of each satellite. This avoids numerous trips by the transport satellites with only one type of goods.A particular advantage is that each transport satellite has a receiving unit with a discharge unit that releases the goods or items from the receiving unit to an area below the transport satellite as needed. This allows for very targeted discharge of the goods on the transport satellite, for example, by the transport satellite moving onto a rail-like guide located above the discharge point and, for instance, above a sorting device such as a wire mesh container, a chute, or a sorting workstation. The transport satellite moves onto this rail-like guide and into an area above the discharge point, such as vertically above a wire mesh container or other receiving device for further transport or processing of the goods.The discharge mechanism is then activated in such a way that the goods fall vertically downwards from the receiving unit of the transport satellite due to the force of gravity, thus entering the area of, for example, the wire mesh container, where they are deposited. This vertical discharge of the goods from the receiving unit eliminates many problems that occur with conventional sorting systems and that mechanically stress the goods. The transport satellite can discharge the goods while stationary, above, for example, the wire mesh container, and the goods fall directly vertically into it. With conventional sorting systems, the sorting process or the redirection of the goods often has to take place while the sorting equipment, such as a conveyor belt, is in full motion, in order to avoid slowing down the entire system.This causes the goods to follow a kind of parabolic trajectory, which makes precise placement difficult and can also subject the goods to considerable mechanical stress. The goods can also twist or be moved into other unpredictable positions, potentially complicating further handling. The transport satellite's stationary position during discharge from the receiving unit, independent of the movements of other sorting equipment, and the goods' vertical movement after discharge, solely due to gravity, ensure highly precise and gentle handling of the goods during discharge from the transport satellite's receiving unit.Furthermore, the invention eliminates the need for complex processes for dropping goods from moving transport units, which often require a lateral throwing or pushing motion and can be technically far more complex than a purely vertical discharge movement. The device according to the invention thus allows for significantly gentler and more precise handling of the goods between a receiving point and a discharge point, thereby substantially improving the handling of even delicate goods. Moreover, the loading and discharge points can be selectively changed due to the mobility of each transport satellite, thus eliminating the need for the fixed infeed and outfeed points required by existing sorting systems.Furthermore, the use of rail-like guides makes it possible to provide additional, optionally stacked, levels to the basic movement plane of the transport satellites, which can be used for transporting and receiving or delivering goods. This makes it particularly possible to operate the device according to the invention in conjunction with existing sorting systems by utilizing the usually unused space above the existing sorting system to extend the movement paths for the transport satellites with the rail-like guides, thereby enabling the transport satellites to work together with the existing sorting system.This makes it easy to expand the capacity of the existing sorting system by adding the rail-like guides and transport satellites, which are spatially separated but complement each other. For example, this allows the transport satellites to be used for sorting goods up to a certain size, thereby creating additional capacity for goods of other sizes within the sorting system. This harmonizes the mix of goods of varying sizes within the existing sorting system, enabling it to operate more economically. Furthermore, the sorting capacity can be scaled as needed using the system according to the invention, for example, by adjusting the number of transport satellites and their movement paths on the plane or on the rail-like guides accordingly.It goes without saying that, in addition to sorting goods, for example in parcel logistics, a multitude of similar tasks, such as order picking, supplying production facilities, or the like, can be performed in a similar manner using the device according to the invention via the transport satellites. Therefore, whenever sorting is mentioned in the following, such other areas of application with similar objectives are also included. Naturally, the device according to the invention, with its transport satellites, can be operated not only in conjunction with existing sorting equipment but also as a standalone sorting system, and this is covered by the invention.

[0015] The use of the transport satellites according to the invention eliminates much of the installation effort required for a facility according to the invention, since the preferably autonomous intelligence of the transport satellites makes much of the infrastructure effort unnecessary through fixed wiring of sensors and actuators and for monitoring movement paths. The transport satellite can have all the necessary sensors and intelligence for controlling the individual processes and can therefore operate largely autonomously. A preferred size or weight for goods to be transported with the transport satellites is in the range of a medium-sized package up to, for example, 5 kg and the size of a double shoebox, which increasingly need to be sorted due to the rapidly increasing order volumes in online retail.The transport satellites serve as both transport means and sorting equipment, and work in the simplest way with existing or specific additional logistics equipment such as chutes, conveyor belts, roll containers, manual workstations or similar common logistics auxiliary equipment, as well as with existing sorting equipment.

[0016] It is particularly advantageous if the rail-like guides are arranged vertically above at least parts of sorting or processing equipment, especially existing on-site, and the transport satellites deliver the transported goods to parts of the sorting or processing equipment. This makes it particularly easy for existing logistics equipment and the device according to the invention to work together, and the installation space, for example in a hall for an existing sorting system, is utilized much more efficiently than with conventional sorting systems.The existing sorting equipment can be at least parts of conventionally operating sorters or other components of the sorting equipment that support the sorters, such as conventional material flow equipment for sorting and / or picking items, especially packages in distribution centers, in particular boxes, chutes, conveyor belts or similar conventional components in such material flow equipment.

[0017] This can be implemented in practice by mounting the rail-like guides vertically above the sorting or processing equipment, either on stands or by suspending them. Mounting rail-like guides on a base is usually possible even within the existing infrastructure of sorting equipment, in order to securely anchor the guides positioned above the sorting equipment. Where this is not possible, the rail-like guides can also be suspended from the hall ceiling or a supporting structure located in the hall ceiling area. It is also conceivable that the rail-like guides are arranged vertically on more than one level.Such an arrangement of rail-like guides stacked one above the other makes even better use of the available space in a hall above, for example, an existing sorting system, than a single level. Furthermore, it is possible to transfer goods between the different levels of the rail-like guides from one level to the level below using transport satellites, for example, into a receiving device located there or onto another transport satellite. This makes sorting possible even between such stacked levels of rail-like guides.

[0018] Furthermore, it is conceivable that the transport satellites could be moved or transported between the ground and the rail-like guides, or between superimposed levels of the rail-like guides, via ramps, elevators, escalators, or similar lifting devices. This would allow transport between the individual levels of the rail-like guides to be handled by the same transport satellite that also performed the transport within the lower level or another level, thus eliminating complex and therefore uneconomical transfers, for example, from a transport satellite to a lift or similar device.In the simplest case, the transport satellite can travel up a suitable incline, for example, from the ground to the first level of the rail-like guides or between different levels of rail-like guides, and then move along this first level of the rail-like guides to its destination. It is also conceivable, of course, to move the entire transport satellite, with its cargo, between the different levels using an elevator, escalator, or other suitable lifting equipment.

[0019] Furthermore, it is particularly advantageous if each transport satellite has drive units, especially wheels or tracks, that move the transport satellite both on the ground and on the rail-like guides. Ideally, only one drive is used for movement both on the ground and in the rail-like guides, so that, for example, only one drive motor and only one set of rollers or wheels or the like are required. In the simplest case, the transport satellite has, for example, two wheels in the center or four wheels at the four corners of its outer dimensions, which are designed both for travel on a flat surface and for movement within the rail-like guides, thus enabling any type of movement of the transport satellites.In principle, such drive devices are known from the field of driverless transport systems and, depending on the application, can be modified as necessary and used for the device according to the invention.

[0020] It is particularly advantageous if each transport satellite receives its destination information directly from the transported goods, especially via stickers or other information carriers, preferably using short-range radio communication via transponders or similar devices. For example, it is conceivable that each transport satellite could have a camera system or similar device that checks the goods to be transported for stickers before or during pickup into the receiving device, and that the information from any stickers found can be evaluated to determine the goods' destination. Of course, wireless transmission methods are also conceivable, for example, from a transponder attached to the goods to the transport satellite, or other contactless systems.

[0021] A particular advantage of the device according to the invention is that the loading and / or unloading points of the transported goods or objects within the operating area of ​​the transport satellite can be flexibly selected. While existing sorting systems typically require fixed loading and unloading points for goods onto and from the sorting system during system planning, and the entire flow of goods must move between these points, the loading and unloading of goods in the transport satellites of the device according to the invention is designed to be largely flexible. For example, the loading of goods can be ordered by a higher-level control unit to the transport satellite in an area that is currently unoccupied or that is particularly convenient for the location of the goods, and the transport satellite then moves to this location and takes over the goods to be transported.Conversely, it is also conceivable that the goods are delivered at any point which is particularly advantageous from a planning perspective or where delivery can be carried out particularly easily.

[0022] Furthermore, it is particularly advantageous if each transport satellite can move autonomously, especially using sensors, and without fixed movement paths such as induction loops as in conventional automated guided vehicles (AGVs) on the ground or rail-like guides. The autonomous movement of the transport satellites relieves a higher-level control unit of numerous control and monitoring tasks that would otherwise require complex sensor and communication technology. This technology accounts for a large part of the complexity of existing sorting systems and contributes to the high manufacturing costs of such systems. If each transport satellite can independently find its own path between the pickup and delivery points, taking into account other transport satellites and other equipment within the sorting system, the system becomes even more efficient.By coordinating with them, the transport can be optimized in the sense of swarm intelligence, thus ensuring it is both safe and takes the most cost-effective route.

[0023] For the orientation of the transport satellites, it is advantageous if each transport satellite has GPS or in-house navigation systems to determine its current position. Such navigation systems are generally available and can be integrated into any transport satellite at relatively low cost, enabling continuous and precise monitoring of the actual position of each transport satellite and thus its interaction with other transport satellites or other components of the sorting facility, in addition to controlling and monitoring movements.

[0024] It is particularly advantageous if each transport satellite has wireless communication facilities, especially short-range radio, preferably via Bluetooth LE, through which it communicates with other transport satellites in the vicinity and coordinates its movements with those of the other transport satellites. This allows many of the control tasks that would otherwise be necessary for a central control unit to manage the movement of numerous transport systems or the like to be shifted to the level of the transport satellites themselves and regulated almost autonomously by the transport satellites themselves in conjunction with their neighbors. For example, if other transport satellites report that there is a high operational frequency or even congestion on a particular route, each transport satellite can take a different route that it perceives as clear or less congested.Naturally, this also prevents collisions with other transport satellites or other components of the sorting system. Such short-range communication devices can, of course, also control and evaluate various other sensors mounted on the transport satellites, such as collision-detection radar systems or similar devices. It is also conceivable that each transport satellite has wireless communication devices with which it communicates with a higher-level control unit. Such communication with a higher-level control unit serves, for example, to initiate transport processes or to report, after completed transport processes, that the transport satellite is free again and can be considered for further transport operations.It is also conceivable that the higher-level control system additionally monitors the positions and movements of the transport satellites reached and intervenes or adjusts them if necessary.

[0025] In terms of its design, it is advantageous if each transport satellite consists of a base module containing the drive system and the receiving unit for the goods, along with the discharge unit attached to it. The base module can, for example, have a frame-like design in which all the drive and power supply components for the transport satellite are housed and function together, allowing the actual receiving unit to be designed differently and integrated into the respective base module. Of course, it is also conceivable to provide different receiving units for different goods to be transported, depending, for example, on the weight, dimensions, or other requirements arising from the nature of the goods.Also located at the receiving facility is the discharge facility, which is responsible for releasing the goods to be transported at the discharge point in order to cause the vertical movement already described due to gravity to affect the goods to be discharged.

[0026] In a further embodiment, the receiving device can have a base containing the discharge device for receiving the goods and a frame-like boundary of the base, thus forming a kind of receiving trough in which the goods to be transported are received both perpendicular to and parallel to the direction of movement of the transport satellite. Particularly for the movement of the transport satellite on inclined paths, such as when changing between different planes, it is advantageous if the receiving device is mounted horizontally on the base module so that the goods remain largely horizontally oriented even when the transport satellite is moving on an inclined, rising path. This prevents the goods to be transported from falling out of the transport satellite, for example, when moving up an incline.

[0027] For the storage of currently unused transport satellites, it is advantageous if the transport satellites are stackable and can be stored stacked on top of each other when not in use, thus requiring less space overall to store the corresponding additional quantities of transport satellites.

[0028] A significant advantage of the device according to the invention with the transport satellites is that the dispensing device releases the goods vertically downwards from the receiving device of the transport satellite. A number of different dispensing devices are conceivable for this purpose; in a first embodiment, for example, the dispensing device has a flap-like opening mechanism that opens downwards from the transport satellite. A flap-like design for such an opening mechanism is particularly easy to implement and allows the flaps of the opening mechanism, when open, not to protrude beyond the lateral outer dimensions of the transport satellite and thus not to require additional space. The flaps are opened, for example, by pivoting them around joints arranged on the transport satellite or the receiving device.The flap can optionally be composed of various segments which, when folded, combine to form the support surface for the goods being transported within the receiving device. This further reduces the space required for the flaps of the flap-like opening mechanism beneath the transport satellite. In their folded state, the flaps form the support surface for the goods being transported and thus the underside of the receiving device.

[0029] In another embodiment, it is conceivable that the segments of the dispensing device consist of individual parts that can be moved like a roller shutter, pivoted like a camera shutter, or collapsed together, particularly in a fan-like manner. Roller shutter-like movable segments, for example, can be rolled up laterally from the area of ​​the receiving device and retracted, closing again after the goods have been dispensed. Another embodiment could consist of a type of shutter louvers, similar to a camera shutter or an iris diaphragm, in which the segments are essentially displaced radially outwards when the goods are dispensed from the receiving device, and subsequently the louvers move back into the central area of ​​the receiving device.Similarly, such fan-shaped, lamellar elements could be rotated outwards, thereby creating an opening for the discharge of the material in the lower region of the receiving device. In addition to the aforementioned configurations, further or combined configurations of such opening mechanisms are conceivable and are also intended to be included in the invention. The essential feature is that the segments of the discharge device largely clear the contact area of ​​the receiving device for the material, so that after release by the discharge device, the material is released downwards from the receiving device solely by the force of gravity.

[0030] The invention further relates to a method for sorting and / or picking goods, in particular packages, items, or the like, in which a number of movable transport satellites, each with at least one receiving device for goods, transport these goods between a receiving point and a delivery point. Each of the transport satellites moves freely on a surface as well as on rail-like guides, in particular rail-like guides above the surface, and the goods are dropped from the receiving device into an area below the transport satellite as needed.

[0031] A particularly preferred embodiment of the device according to the invention is shown in the drawing.

[0032] They show: Fig. 1 - a first, schematic representation of a transport satellite as part of the device according to the invention with laterally arranged wheels and a delivery device with a frame-shaped boundary that can be inserted into a receiving device, Fig. 2a-2c - Variants of the transport satellite according to Fig. 1 with different drive elements in the form of small wheels, large wheels or chain drive, Fig. 3 - Schematic representation of the possible travel paths of the transport satellites on a solid surface, an elevated track made of rail-like guides and an elevated platform Fig. 4 - Schematic representation of an arrangement of the device according to the invention with rail-like guides arranged above an existing sorting device which is only rudimentarily indicated and transport satellites moving thereon which allow transported goods to fall vertically downwards into devices of the existing sorting device, Fig. 5 - Placement of goods transported by transport satellites from an elevated track into transport boxes arranged below via rail-like guides, Fig. 6 - Placement of goods transported by transport satellites from an elevated track via rail-like guides onto a sorting table arranged below, Fig. 7 - Placement of goods transported by transport satellites from an elevated track into transport troughs arranged below via rail-like guides, Fig. 8 - Placement of goods transported by transport satellites from an elevated track via rail-like guides onto a roller conveyor arranged below, Fig. 9 - Placement of goods transported by transport satellites from an elevated track into sorting chutes arranged below via rail-like guides, Fig. 10 - Transfer of goods from a transport satellite on a higher level of the rail-like guides to a transport satellite on a lower level of the rail-like guides, Fig. 11 - Schematic representation of various conceivable designs of delivery devices at the receiving device of a transport satellite according to Fig. 1, Fig. 12 - Schematic representation of the pendulum suspension of the receiving device in the frame of a transport satellite during horizontal and oblique upward movement of the transport satellite via an inclined ramp to a higher level with rail-like guides.

[0033] In the Fig. Figure 1 is a first, schematic representation of a transport satellite 2 as a component of the device according to the invention, with wheels 3 arranged laterally at the bottom and a delivery device 20 that can be inserted into a receiving device 4 and has a frame-shaped enclosure 31. The transport satellite 2 is simplified here as being formed from an approximately rectangular frame, which has a separately driven and laterally rotatable wheel 3 in each of its four corner regions on its underside. This wheel 3 allows the satellite to move both on a flat surface 7 (not shown) and on rail-like guides 9 (shown later). All components necessary for drive and control are housed within the rectangular frame, including, for example, corresponding electric drives, control components, and an energy storage device, such as a rechargeable battery.Also, in the form of circles 30, only schematically indicated sensors, such as radar sensors, optical sensors, or similar detection devices, are arranged on the rectangular frame of the transport satellite 2 in such a way that the transport satellite 2 can monitor and plan its movements and coordinate them with other transport satellites 2 of the facility 1. For this purpose, the transport satellite 2 may be equipped with wireless transmission devices, via which it can communicate and coordinate with other transport satellites 2 in its vicinity, for example, using Bluetooth LT or similar short-range radio technology. Communication with a higher-level control center is also possible via other wireless transmission technologies. The technology for controlling the movement of the transport satellites 2 is already known in principle from driverless transport systems in logistics and does not need to be explained further here.However, the transport satellite 2 should be able to move largely autonomously, meaning it is both route-independent and capable of making its own decisions without specific instructions from the higher-level control center. This allows for a significant simplification of the technology and communication between the transport satellites 2 of the inventive device 1 compared to conventional, monolithically designed sorting systems. The transport satellites 2 can also perform and optimize their tasks using self-learning capabilities.

[0034] Inside the transport satellite 2, and surrounded by its rectangular frame (an elliptical or circular frame is also conceivable), is a receiving device 4 in the form of an opening open below the transport satellite 2. A support surface 20, shown in a highly simplified manner, and a frame 31 around this support surface 20 are arranged within this opening. The support surface 20 serves, on the one hand, to deposit a good 11 in the receiving device 4, and on the other hand, the support surface 20 has variously designed dispensing devices 21 to 26, which are located in the Fig. 11 are described in more detail and explained there. Basically, the support surface 20 can be moved or modified relative to the receiving device 4 such that the opening on the underside of the receiving device 4 of the transport satellite 2 is released, and any item 11 placed on the support surface 20 falls vertically downwards out of the receiving device 4 of the transport satellite 2 solely due to the effect of gravity. The advantages of this method of releasing the item 11 are explained in more detail below.

[0035] In the Fig. 2b-2c are two further variants of the transport satellite according to Fig. 1 or 2a with different drive elements in the form of large wheels 3' according to Fig. 2b or with chain drive 5, 6 according to Fig. 2c to recognize, which are basically like the transport satellite 2 according to Fig. 1 are trained and function accordingly. The large wheels 3' of the transport satellite 2 according to Fig. 2b can be balanced analogously to a Segway, so that the frame of the transport satellite 2 is always kept horizontal. The chain drive 5, 6 according to Fig. 2c features an approximately triangular chain guide 5 on which an endless, driven chain 6 rolls. This design can offer the advantage of better traction on the surface 7 due to the larger contact area of ​​the chain 6 on the surface 7 and thus increase off-road capability.

[0036] The Fig. Figure 3 shows a schematic representation of the possible travel paths of the transport satellites 2 on a solid surface 7, an elevated track made of rail-like guides 9, and an elevated platform 10. The respective drive units 3 of the transport satellite 2 are designed so that they can travel with the same drive components on a flat surface 7, e.g., a hall floor, and move there largely autonomously. A similar movement takes place on a platform 10 elevated on supports 8, as shown in Figure 3. Fig. 3c. This movement on an elevated platform 10 has the advantage that the transport satellite 2 then moves above the level of the solid base 7 and can drop goods 11 picked up in the receiving device 4 into a conventional sorting device, here represented by a wire mesh box 14, by means of the previously described vertical downward discharge movement 12. For this purpose, a corresponding opening or recess must be provided on the platform 10, the position of which the transport satellite 2 approaches and stops over, and then, while stationary, opens the discharge device 4 so that the goods 11 to be sorted can fall into the wire mesh box 14. The procedure is similar according to Fig. 3b, in which the transport satellite 2 can move on rail-like guides 9 mounted on supports 8 and thus, possibly guided by the rail-like guides 9, but movable on them, can travel to the target point above the wire mesh box 14 and then drop off the goods 11. The rail-like guides 9 can also be suspended from the ceiling or a supporting structure.

[0037] A significant advantage with regard to the function of the transport satellite 2 according to the invention is, firstly, the simple vertical loading of the receiving device 4 from above (automatically or manually), the largely free and independent movement of the transport satellite 2 from the loading point to the delivery point using the base 7 and the rail-like guides 9 or the platform 10, and, secondly, the vertical delivery of the goods 11 downwards from the transport satellite 2 when it is stationary. This allows for precise and gentle placement of the goods 11, here in the wire mesh box 14 (but of course also in any other conventional sorting or transport device). This ensures that the goods 11 are transported and delivered gently with high and reproducible delivery accuracy.

[0038] The Fig. Figure 4 shows a very schematic representation of an arrangement of the device 1 according to the invention with rail-like guides 9 arranged above a sorting device 13 (only rudimentarily indicated) and transport satellites 2 moving thereon, which allow transported goods 11 to fall vertically downwards into sections or zones of the sorting device 13. The rail-like guides 9 are arranged either at the same level or at different levels above the sorting device 13 and can be supported or suspended, so that they utilize the otherwise usually free and unused space above the sorting device 13.The rail-like guides 9 are arranged such that they run over specific target points within the area of ​​the existing sorting device 13, at which goods 11 can typically be discharged into transport or sorting elements of the existing sorting device 13 (not shown in detail, only indicated as chambers). The transport satellites 2 then move independently along the rail-like guides 9 to the respective discharge points above the chambers or zones of the existing sorting device 13 and, due to the opening of the discharge device 4, release the goods 11 freely in the direction of fall 12, so that they fall into the chambers or zones of the existing sorting device 13 and can be processed further there.This figure serves, firstly, to explain how the device 1 according to the invention can be spatially and functionally linked with an existing sorting device 13, and secondly, to show that the capacity of an existing sorting device 13 can thereby be specifically and scalably expanded and the overall throughput can therefore be easily increased without having to make fundamental and expensive modifications or extensions to the existing sorting device 13.

[0039] In the Fig. 5, Fig. 6, Fig. 7, Fig. 8 to Fig. Figure 9 now shows corresponding transfers of goods 11 from the receiving facilities 4 of the transport satellites to various sorting facilities. Fig. Figure 5 shows, in enlarged detail, the transfer of goods 11 to a wire mesh box 14, which Fig. 6 the transfer of a good 11 onto a sorting table 15, the Fig. 7 the transfer of a good 11 into a shallow transport tub 16, the Fig. 8 the transfer of goods 11 onto a belt conveyor 17 as part of a roller conveyor 18 and finally the Fig. 9 the transfer of a good 11 into different sections of a sorting chute 19, with which the good 11 can be separated according to destination and fed to further processing steps not shown.

[0040] The Fig. Figure 10 shows the transfer of goods 11 from a transport satellite 2 on a higher level of the rail-like guides 9 to a transport satellite 2 on a lower level of the rail-like guides 9, thus making it clear that the transport satellites 2 themselves can also serve as means for sorting the goods 11. The transfer between individual transport satellites 2 also enables the picking of complete orders using only the transport satellites 2, by having several transport satellites 2 transfer their goods 11 to a transport satellite 2 by dropping them off, as shown.

[0041] The Fig. Figure 11 shows a schematic representation of various conceivable configurations of delivery devices 21-26 at the receiving device 4 of a transport satellite 2 according to Fig. 1. The dispensing device 21-26 must ensure that the support surface 20 in the area of ​​the receiving device 4 can be opened quickly, so that the lower opening of the receiving device 4 of the transport satellite 2 is uncovered and the goods 11 can fall out below the transport satellite 2 as described above. This is most easily achieved by designing the support surface 20 itself to either block or release the lower opening of the receiving device 4. The designs of the support surface 20 shown only schematically in sections H1 to H7 can be used for this purpose. According to section H1, the support surface 20 can be formed from pie-slice-shaped segments 21, which are tightly closed in the area of ​​the opening of the receiving device 4 during the transport of the goods 11 in the transport satellite 2 and which, upon dispensing the goods 11, pivot simultaneously outwards around a single pivot point.This creates an approximately polygonal opening through which the item 11 can then fall vertically downwards out of the receiving device 4 of the transport satellite 2. This principle can also be used, for example, in a modified form, similar to the function of an iris diaphragm, such as those used as shutters or apertures on cameras. In illustrations H2 and H3, the support surface 20 is realized in the form of a roller shutter-like element 22, which can be moved either on both sides of the opening of the receiving device 4 (H2) or only on one side (H3). The roller shutter can be wound up and down, for example, by a winding motor (not shown). According to figure H4, four approximately triangular segments 24 can be folded away horizontally like a roller shutter, thereby opening and then closing the opening of the receiving device 4.Figure H5, on the other hand, shows four approximately triangular segments 23 that can be moved horizontally outwards from the area of ​​the receiving device 4. In Figure H6, the idea of ​​pivoting segments from H1 is varied using large triangular segments 25, which are pivoted laterally outwards from the receiving device 4. Finally, Figure H7 shows fan-like, foldable segments 26 that can be folded together laterally at the opening of the receiving device 4, thereby clearing the opening of the receiving device 4.

[0042] The opening mechanisms H1 to H7 can also be used in so-called Bombay or drop-tray loop sorters. In these sorters, sorting also occurs by opening the receiving unit, which generally folds downwards. This results in limitations for the goods being sorted with regard to their height, depending on the sorting speed of the sorter and the size of the opening receiving unit. The advantage of the present solution is that the height limitations of the goods being sorted are determined solely by the sorting speed and no longer by the size of the unfolded receiving unit.

[0043] The Fig.Figure 12 shows a schematic representation of the pendulum suspension of the receiving device 4 within the frame of a transport satellite 2, both during horizontal and oblique upward movement of the transport satellite 2 via a ramp or incline 27 to a higher level with rail-like guides 9. For this purpose, the receiving device 4, with its lower support surface 20, can be suspended within the frame of the transport satellite 2 in such a way that it can actively or passively adapt to the respective orientation of the horizontal plane. This prevents the load 11 from slipping within the receiving device 4, for example, when ascending the incline 27. As a result, the position of the load 11 on the support surface 20 remains constant, regardless of the incline of the transport satellite 2's trajectory.

[0044] The device according to the invention can integrate the complete logistics of, for example, a distribution center, from truck unloading and sorting to distribution within the warehouse or distribution center and order picking, using a single transport and handling device, from input to destination. The device according to the invention results in significantly lower initial investment costs when using transport satellites 2 instead of fixed, planned distribution systems. Furthermore, linking existing sorting islands or different locations with rail-shaped guides 9 or pathways to expand the overall system's capacity is conceivable.

[0045] Currently, distributing parcels to delivery vehicles involves considerable manual effort to assign the parcels to the respective delivery vehicle and arrange them in the correct delivery sequence. With the device 1 according to the invention, the parcels 11 can be sorted to optimize the delivery route, e.g., according to weight or load capacity. Furthermore, fragile parcels 11 can be more easily placed on a special chute at specific transfer points or handled gently in other ways to minimize mechanical stress on the parcels.

[0046] The Transport Satellites 2 can rescue each other from calamities; for example, a stranded Transport Satellite 2 can be towed by another Transport Satellite 2 and taken to the maintenance site.

[0047] The device according to the invention appears to offer cost savings of at least 50% (reduced control and construction costs, smaller halls, etc.) compared to conventional monolithic sorting solutions. Part number list 1. Facility 2 transport satellites 3 rollers / wheels 4. Receiving facility 5 rolling element 6 chains 7 Subsurface 8 supports 9 rail-like guides 10 platforms 11 Good 12. Fall direction 13 existing sorting facilities 14 wire mesh boxes 15 sorting table 16 Transport tub 17 belt conveyors 18 roller conveyor 19 frames 20 contact area 21 Segment 22 roller shutters 23 sliding triangular segment 24 sliding triangular segments 25 swiveling triangular segment 26-fan-like closure 27 Slanted 28 Pendulum joint 29 Pendulum motion 30 sensors 31 frames

Claims

[1] Device (1) for sorting and / or picking goods (11), in particular packages, bags or items, comprising a number of movable transport satellites (2) each with at least one receiving device (4) for goods (11), wherein the transport satellites (2) transport the goods (11) between a receiving point and a delivery point, characterized by , that each of the transport satellites (2) is movable both freely on a base (7, 10) and on rail-like guides (9), in particular rail-like guides (9) above the base (7, 10), and the receiving device (4) has a discharge device (20) which releases the goods (11) in the receiving device (4) into an area below the transport satellite (2) as required. [2] Device (1) according to claim 1, characterized by, that the rail-like guides (9) are arranged vertically above at least parts of sorting equipment (13) or processing equipment, in particular those already present on site, and that the transport satellites (2) deliver the transported goods (11) to parts of the sorting equipment (13) or processing equipment. [3] Device (1) according to claim 2, characterized by , that the sorting equipment (13) already present on site is at least part of conventionally operating sorters or of other plant components of the sorting equipment (13) that support the sorters. [4] Device (1) according to one of claims 2 or 3, characterized by, that the sorting devices (13) are parts of conventional material flow devices for the sorting and / or picking of items (11), in particular packages in distribution centers, in particular boxes (14), chutes (17), conveyor belts (18) or conventional components in such material flow devices. [5] Device (1) according to any one of the preceding claims, characterized by that the rail-like guides (9) are mounted on supports and / or suspended vertically above the sorting devices (13, 14, 17, 18) or processing devices. [6] Device (1) according to any one of the preceding claims, characterized by , that the rail-like guides (9) are arranged one above the other in more than one plane. [7] Device (1) according to any one of the preceding claims, characterized by, that the transport satellites (2) can be moved or transported via inclines, lifts, escalators or similar lifting devices between the ground (7, 10) and the rail-like guides (9) or between superimposed levels of the rail-like guides (9). [8] Device (1) according to any one of the preceding claims, characterized by , that each transport satellite (2) has drive units, in particular wheels (3) or tracks (6), which move the transport satellite (2) both on the ground (7, 10) and on the rail-like guides (9). [9] Device (1) according to any one of the preceding claims, characterized by , that each transport satellite (2) receives its destination information directly from the transported goods (11), in particular by means of a sticker or other information carrier, preferably by means of short-range radio via transponder, or from a higher-level system. [10] Device (1) according to any one of the preceding claims, characterized by , that the drop-off and / or drop-off points of the transported goods (11) in the working area of ​​the transport satellite (2) can be flexibly selected. [11] Device (1) according to any one of the preceding claims, characterized by , that each transport satellite (2) is autonomous, preferably self-optimizing, in particular sensor-supported, and can be moved on the substrate (7, 10) or the rail-like guides (9) without fixed predetermined movement paths. [12] Device (1) according to claim 11, characterized by , that each transport satellite (2) uses GPS or in-house navigation systems to determine its current position. [13] Device (1) according to any one of the preceding claims, characterized by, that each transport satellite (2) has wireless communication facilities, in particular short-range radio, preferably via Bluetooth LE, through which it communicates with other transport satellites (2) in the vicinity and coordinates its movements with those of the other transport satellites (2). [14] Device (1) according to any one of the preceding claims, characterized by , that each transport satellite (2) has wireless communication facilities by which it communicates with a higher control facility. [15] Device (1) according to any one of the preceding claims, characterized by , that each transport satellite (2) is formed from a basic module having the drive and the receiving device (4) for the goods (11) arranged thereon with the delivery device (20) arranged thereon. [16] Device (1) according to any one of the preceding claims, characterized by, that the receiving facility (4) has a base area including the delivery facility (20) for receiving the goods (11) and a frame-like boundary (31) of the base area. [17] Device (1) according to one of claims 15 or 16, characterized by , that the receiving device (4) is mounted horizontally pivotable (28) on the base module of the transport satellite (2) and that the goods (11) remain largely horizontally oriented even when the transport satellite (2) is moving obliquely upwards. [18] Device (1) according to any one of the preceding claims, characterized by , that the transport satellites (2) are designed to be stackable. [19] Device (1) according to any one of the preceding claims, characterized by , that the delivery device (20) releases the goods (11) vertically downwards from the receiving device (4) of the transport satellite (2). [20] Device (1) according to claim 19, characterized by, that the delivery device (20) has a flap-like opening mechanism (24) that opens downwards towards the transport satellite (2). [21] Device (1) according to claim 19, characterized by , that the delivery device (20) has an opening mechanism formed from individual segments (21, 22, 23, 24, 25, 26) which can be moved towards the good (11) in the receiving device and which opens below the transport satellite (2). [22] Device (1) according to claim 19, characterized by , that the segments (21, 22, 23, 24, 25, 26) of the dispensing device (20) consist of individual parts that can be moved like a roller shutter or pivoted like a camera shutter or pushed together, in particular foldable like a fan. [23] Device (1) according to one of claims 21 to 22, characterized by, that the segments (21, 22, 23, 24, 25, 26) of the discharge device (20) largely release the support area of ​​the receiving device (4) for the goods (11), whereby the goods (11) are released downwards from the receiving device (4) solely due to the effect of gravity after being released by the discharge device (20). [24] Method for sorting and / or picking goods (11), in particular packages, bags or items, using a number of mobile transport satellites (2) each having at least one receiving device (4) for goods (11), wherein the transport satellites (2) transport the goods (11) between a receiving point and a delivery point, characterized by, that each of the transport satellites (2) travels both freely on a surface (7, 10) and on rail-like guides (9), in particular rail-like guides (9) above the surface (7, 10), and that the goods (11) from the receiving device (4) are dropped from the receiving device (4) into an area below the transport satellite (2) as required.

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