Transfer station of a picking system for processing picking and / or sorting orders for goods

Abstract

Transfer station (5) of a picking system (1) for processing picking and / or sorting orders for goods (13), comprising a robot () with a working area (W) for gripping the goods, a first staging area (A) for driverless transport units and a second staging area (B) for driverless transport units, wherein the first staging area (A) and the second staging area (B) are each at least partially located within the robot's operating area, a first driverless transport unit, wherein the first driverless transport unit comprises a first driverless transport vehicle (6), a first transport loading aid (8) and a first drive device, wherein at least two first loading aids (3a, 3b, 3c, 3d) are receptive to the first transport loading aid (8), wherein the first transport loading aid (8) is receptive to the first driverless transport vehicle (6) and can be made available at the first staging area (A), wherein the at least two first loading aids (3a, 3b, 3c, 3d) are displaceable relative to a vertical axis (37) of the first transport unit for arrangement in the working area (W) of the robot by means of the first drive device. a second driverless transport unit comprising a second driverless transport vehicle (7), wherein at least one second loading aid (4) can be picked up by the second driverless transport vehicle (7) and can be made available at the second staging area (B) completely within the working area (W) of the robot.

Description

[0001] The invention relates to a transfer station of a picking system for processing picking and / or sorting orders for goods according to claim 1.

[0002] Transfer stations in order picking systems are known from the prior art, in which a robot is used to automatically transfer goods between a source loading device and a destination loading device. Known robots are formed by an articulated-arm robot or a gantry robot. Such an order picking system is known, for example, from WO 2019 / 169419 A2.

[0003] WO 2016 / 138101 A1 discloses the transport of bulk loading aids on transport loading aids by automated guided vehicles. The bulk loading aids are arranged in stacked receiving levels on storage spaces within the transport loading aids.

[0004] The disadvantage of the known transfer stations in order picking systems is that, due to their complexity, the transfer capacity at a transfer station is limited.

[0005] The object of the invention is therefore to provide a transfer station of the type mentioned at the outset, with which the disadvantages mentioned can be avoided and with which a robot can be used particularly efficiently and a particularly high transfer performance can be achieved.

[0006] According to the invention, this is achieved by the features of claim 1.

[0007] The transport units, and in particular the drive device, can significantly increase the reloading performance, as the load carrier from which the robot wants to pick goods can be moved or positioned within the robot's range of action. This allows the robot to have a predeterminable range of action, whereby the positioning of the load carriers from or into which picking and / or sorting is to take place can be carried out independently of the robot. This makes it possible to accelerate the provision of the load carriers compared to existing reloading stations with robots, thereby improving the reloading performance. This allows the robot to move very dynamically, enabling a particularly high reloading / sorting performance to be achieved at the reloading station.Furthermore, the use of transport units eliminates the need for a cumbersome and costly construction of a transport platform to and from the robot.

[0008] The invention further relates to a picking system according to claim 10.

[0009] According to the invention, this is achieved by the features of claim 10.

[0010] The advantages of the picking system correspond to the advantages of the transfer station mentioned above.

[0011] The subclaims relate to further advantageous embodiments of the invention.

[0012] The invention will be described in more detail with reference to the accompanying drawings, in which only preferred embodiments are shown by way of example. In the drawings: Fig. 1 a preferred embodiment of a picking system; Fig. 2a a preferred embodiment of a transport loading aid; Fig. 2b shows a further preferred embodiment of the transport loading aid; Fig. 2c shows a further preferred embodiment of the transport loading aid; Fig. 3a a preferred embodiment of a transport unit in sectional view; Fig. 3b shows a further preferred embodiment of the transport unit in sectional view; Fig. 4 a preferred embodiment of the robot with an exemplary effective area shown.

[0013] The Fig. 1 to 4 show at least parts of preferred embodiments of a transfer station 5 of an order picking system 1 for processing order picking and / or sorting orders for goods, comprising a robot 11 with an effective range W for gripping the goods, a first provision area A for driverless transport units and a second provision area B for driverless transport units, wherein the first provision area A and the second provision area B are each arranged at least partially in the effective area of ​​the robot 11, a first driverless transport unit, wherein the first driverless transport unit comprises a first driverless transport vehicle 6, a first transport loading aid 8 and a first drive device, wherein at least two first loading aids can be received by the first transport loading aid 8, wherein the first transport loading aid 8 can be received by the first driverless transport vehicle 6 and can be made available at the first staging area A, wherein the at least two first loading aids can be displaced relative to a vertical axis 37 of the first transport unit by means of the first drive device for arranging them in the effective area W of the robot 11, a second driverless transport unit comprising a second driverless transport vehicle 7, wherein at least one second loading aid can be picked up by the second driverless transport vehicle 7 and can be made available at the second supply area B completely within the effective area W of the robot.

[0014] Furthermore, a picking system 1 comprising a transfer station according to the invention comprising a warehouse 10 with goods provided in loading aids and an electronic order management system 2 for recording orders is provided.

[0015] The transfer station 5 according to the invention is a device for processing picking and / or sorting orders. Picking and sorting are well-known terms in intralogistics, so a detailed description of these terms will be omitted here.

[0016] The robot 11 according to the invention has a range of action W. The range of action is the area in which the robot 11 can perform its work, i.e., grasp goods. The range of action can also be referred to as the "actual" workspace. The "actual" workspace of the robot refers to the physical area in which the robot, in particular a robot arm, a gripper carrier 15, and a gripper 16 of the robot arranged on the gripper carrier 15, can move and perform its reloading tasks (i.e., picking tasks or sorting tasks). The robot arm contains several joints that function as axes, allowing a certain degree of movement. The range of action W is in Fig. 4 shown as an example.

[0017] Even though the robot can be limited by the kinematic structure and ranges of motion of its joints and gripper within a "theoretical" workspace, the "actual" workspace can preferably be chosen to be significantly smaller. This allows for shorter robot movements and increased robot performance.

[0018] Particularly preferably, the robot 11 can be formed by an articulated-arm robot, in particular a six-axis articulated-arm robot. In particular, the articulated-arm robot can have a robot arm attached to the robot base and movable relative thereto, with several arm segments 17a, 17b, 17c, 17d, 17e movable relative to one another, with the gripper 16 being arranged at a free end of the robot arm.

[0019] Preferably, the effective area W of the articulated arm robot can define a horizontal base area which is limited by a circular sector S. The circular sector S can preferably overlap with the first provision area A and the second provision area B. In Fig. 1, the robot 11 is shown as an example of an articulated arm robot.

[0020] Particularly preferably, it can be provided that a central angle of the circular sector S is less than 200°, in particular less than 180°, preferably less than 150°.

[0021] Preferably, the effective range can also be the maximum reachable range of the robot 11.

[0022] Preferably, the robot 11 can be a gantry robot.

[0023] The first staging area A and the second staging area B are areas for driverless transport units. The staging areas are designed such that the transport unit can travel to the respective staging area and position itself in the staging area for the robot 11.

[0024] The first staging area A and the second staging area B are each arranged at least partially within the robot's operating range. Preferably, the first staging area A and / or the second staging area B can also be arranged entirely within the robot's operating range.

[0025] The first driverless transport unit comprises a first driverless transport vehicle 6, a first transport loading aid 8 and a first drive device.

[0026] The second driverless transport unit comprises a second driverless transport vehicle 7.

[0027] The driverless first transport vehicle and the driverless second transport vehicle are preferably capable of autonomous movement. In other words, they can be moved independently of each other. The driverless first transport vehicle and the driverless second transport vehicle are, in particular, floor-based transport vehicles. Such a driverless first transport vehicle and driverless second transport vehicle are also referred to as "Automated Guided Vehicles (AGV)" or "Autonomous Mobile Robots (AMR)," respectively.

[0028] Automated Guided Vehicles (AGVs), for example, use optical or magnetic path markings, which can be detected and tracked via sensors by the first and second driverless transport vehicles. The path markings are arranged, for example, on the floor of the picking system.

[0029] Autonomous Mobile Robots (AMRs) eliminate the need for path markings, allowing collision-free navigation within the floor of the picking system. The AMRs incorporate sensors and use a computer for path planning.

[0030] Particularly preferably, it can be provided that the second driverless transport unit comprises a second transport loading aid 8 and a second drive device, wherein at least two second loading aids can be received by the second transport loading aid 8, wherein the second transport loading aid 8 can be received by the second driverless transport vehicle 7 and can be made available at the second staging area B, wherein the at least two second loading aids can be displaced relative to a vertical axis of the second transport unit by means of the second drive device for arranging them in the effective area W of the robot.

[0031] The first and / or second transport loading aid 8 is a device for transporting loading aids. Goods can be stored, transported, and sorted using the loading aids. Preferably, the first and / or second transport loading aid 8 has storage spaces for the loading aids.

[0032] The loading aids for holding goods can be formed, for example, by containers, trays, cartons, wire mesh boxes and the like.

[0033] Preferably, at least two loading aids can be accommodated with the first and / or second transport loading aid 8. Preferably, at least three, preferably at least four, loading aids can also be accommodated with the first and / or second transport loading aid 8.

[0034] Preferably, the first and / or the second driverless transport vehicle 6, 7 can pick up the first and / or second transport loading aid 8 from a frame.

[0035] Particularly preferably, it can be provided that the first transport loading aid 8 and / or second transport loading aid 8 comprises a transport frame 27. Preferably, a transport floor 25 for the loading aids can be attached to the transport frame 27. Preferably, the transport floor 25 can be placed on a surface by means of feet. This allows the driverless transport vehicle 6, 7 to simply drive under the transport floor 25 into the frame and lift the frame. This allows the loading aids to be brought particularly easily into the effective range of the robot 11 and aligned and positioned in the effective range W of the robot 11. Fig. 2a, Fig. 2b and Fig. 2c shows at least parts of preferred embodiments of transport loading aids 8 by way of example.

[0036] The transport loading aid preferably comprises the transport floor and storage spaces arranged next to one another on the transport floor. For example, the transport floor can comprise at least two storage spaces arranged next to one another in a first row and / or at least two storage spaces arranged next to one another in a second row. For example, four storage spaces are provided on the transport floor, with two of the storage spaces being arranged next to one another in a first row and two of the storage spaces being arranged next to one another in a second row. The number of storage spaces can preferably vary. This is exemplified in Fig. 3a shown.

[0037] Preferably, a dimension of the parking space can be adapted to a dimension of a bulk loading device. For example, a parking space can accommodate a bulk loading device with dimensions of approximately 600 mm x 400 mm or a bulk loading device with dimensions of approximately 300 mm x 400 mm.

[0038] Preferably, the first and / or second transport loading aid 8 can have a substantially square outline. Due to the square outline, a turning circle K of the transport loading aid 8 can be small, whereby a rotational movement of the transport loading aid 8 requires little space.

[0039] Preferably, the load support can also be referred to as a source load support and / or a target load support. During order picking, the first load support 3a, 3b, 3c, 3d can preferably be referred to as the source load support and the second load support 4 as the target load support. During sorting, the first load support 3a, 3b, 3c, 3d can preferably be referred to as the target load support and the second load support 4 as the source load support.

[0040] By means of the first driverless transport vehicle 6 and / or the second driverless transport vehicle 7, the first and / or second transport loading unit 8 can preferably be provided at the first and / or second provisioning area A, B. Provision can be understood in such a way that the loading aids transported by the respective transport vehicle 6, 7 are transported to the robot 11 and prepared for pickup by the robot 11.

[0041] The driverless first transport vehicle 6 can be used to transport the loading equipment 3 (with the goods) between the transfer station 5, in particular the staging area A, and the warehouse 10.

[0042] The driverless second transport vehicle 7 can be used to transport the loading aid 4 (with the goods) between the transfer station 5, in particular the delivery area B, and the warehouse 10 or a goods exit of the order picking system 1a (not shown).

[0043] The first drive device is provided to arrange the at least two first load supports within the effective range of the robot 11. By means of the first drive device, the at least two first load supports can be displaced relative to a vertical axis of the first transport unit. As a result, the first transport vehicle with the picked-up transport load support can travel to the effective range of the robot 11 and the first drive device can align the load supports on the transport load support such that at least one of the two load supports is completely within the effective range W of the robot 11. As a result, the robot 11 can remove at least one item of goods from the load support and transfer it to the second load support, or vice versa. As a result, goods can be sorted or picked quickly and easily.

[0044] Preferably, the second drive device can be designed in the same way as the first drive device.

[0045] Particularly preferably, it can be provided that the first drive device and / or the second drive device are arranged on the driverless transport vehicle 6, 7. This makes it particularly easy to move, in particular rotate, the robot 11 into its effective range by means of the respective drive device.

[0046] Particularly preferably, it can be provided that the first drive device and / or the second drive device are arranged on the transport loading aid 8. The transport loading aid 8 can preferably comprise a rotary joint with a motor in order to move the loading aids into the effective range W of the robot 11. This allows the transport vehicles 6, 7 to be designed more simply.

[0047] Particularly preferably, it can be provided that the first driverless transport vehicle 6, 7 and / or the second driverless transport vehicle 6, 7 comprises a vehicle frame 30, a drive 31 and a loading platform 32 arranged on the vehicle frame 30 for receiving the transport loading aid 8.

[0048] Preferably, it can be provided that the drive 31 of the driverless first and / or second transport vehicle 6 comprises a plurality of drive wheels 33 mounted on the vehicle frame 30 and separately controllable.

[0049] Particularly preferably, it can be provided that the loading platform 32 for receiving the transport loading aid 8 is mounted on the vehicle frame 30 so that it can be raised and lowered via a lifting drive 34. This makes it particularly easy to pick up the transport loading aid 8. As a result, the driverless transport vehicle only needs to drive under the transport loading aid, in particular under the transport floor 25 of the transport loading aid, and lift the transport loading aid to move it.

[0050] The lifting drive may preferably comprise a lifting motor.

[0051] Particularly preferably, the loading platform 32 for receiving the transport loading aid 8 is mounted on the vehicle frame 30 via a rotary drive 35 so that it can rotate about the respective vertical axis 37. This allows the transport loading aid 8 to be aligned particularly easily within the operating range of the robot 11.

[0052] If the transport loading aid 8 is supported on the loading platform via the transport floor 25, the transport loading aid can be rotated about the vertical axis 44 by a rotational movement of the loading platform and positioned relative to the staging area (if necessary by a driving movement of the driverless first transport vehicle) such that the second loading aid is arranged within the effective range of the robot 11 and the robot can remove a product from the second loading aid. The rotary drive 35 can comprise an electric motor, in particular a servo motor or stepper motor, which enables precise positioning of a rotation angle.

[0053] Particularly preferably, it can be provided that the first drive device and / or the second drive device is / are mounted on the respective transport frame 27.

[0054] Particularly preferably, it can be provided that the first loading aids and / or the second loading aids are designed as a self-propelled first drive device and / or as a self-propelled second drive device. As a result, preferably self-propelled transport vehicles can travel on the respective transport loading aid 8 in order to reach the effective range W of the robot 11 by means of the travel. In this case, the transport loading aid 8 can preferably form a travel surface for the self-propelled loading aids. As a result, a particularly simple and flexible arrangement of the loading aids in the effective range of the robot 11 can be achieved. This is exemplified in Fig. 2c shown.

[0055] The order picking system is intended to include the order management system. Orders are recorded electronically using the order management system. These orders are, for example, picking orders. An order comprises one or more order lines. Each order line contains information about the quantity of a product and the product type, for example, two pieces of product A. Product A specifies the product type.

[0056] In particular, the orders may include reloading orders, such as picking orders.

[0057] Which goods are provided and transported to the staging area A, B is preferably determined by the order.

[0058] Preferably, the order-picking system can be provided with a controller. Orders can preferably be transmitted to the controller from the order management system. The order management system and the controller are connected for data exchange or for exchanging order data.

[0059] It may prove advantageous if, in a provisioning step, the transport loading aid is rotated about the vertical axis and positioned relative to the provisioning area A, B by a travel movement of the driverless first transport vehicle such that the second loading aid is arranged within the effective range of the robot 11 and the robot can remove a product from the second loading aid and transfer it to the first loading aid. This allows for improved positioning of the second loading aid relative to the provisioning area. The transport loading aid can therefore be positioned by a rotational movement and a translational movement. Such an (optional) travel movement is relatively short and can result from different dimensions of the source loading aids.

[0060] Preferably, the transport frame is designed such that the driverless first and / or second transport vehicle can drive under the transport loading aid 8. The transport frame can comprise a transport frame and adjustable feet attached thereto. The transport loading aid 8 can be placed on a floor of the order picking system 1 via the adjustable feet. These adjustable feet are shown by way of example in the Fig. 2a, Fig. 2b and Fig. 2c shown.

[0061] For example, a first source loading device is intended to hold goods of a first type, for example, product "A," and the second source loading device is intended to hold goods of a second type, for example, product "B." The goods in the first source loading device and the goods in the second source loading device can also be referred to as warehouse goods during their subsequent use.

[0062] It would also be conceivable for a bulk loading device to include compartments separated by partition walls. Such bulk loading devices would contain the goods in a "separate" manner within the compartments.

[0063] Fig. 1 shows, by way of example, at least parts of a picking system 1 comprising an order management system 2 for the electronic recording of orders.

[0064] The transfer station 5 has a first staging area A, a second staging area B and a robot 11.

[0065] It should be noted that the order picking system 1 can also comprise multiple transfer stations 5. Multiple driverless first transport vehicles 6 can also be used to provide the transport loading aids 8 and the source loading aids 3 transported with the transport loading aids 8. In addition to the driverless second transport vehicle 7, a driverless third transport vehicle (not listed) and, if necessary, a driverless additional transport vehicle (not listed) can also be used to provide the destination loading aids 4.

[0066] In the Fig. 3a and the Fig. 3b shows a preferred embodiment of a transport loading aid 8, which is formed by way of example by a mobile transport loading aid.

[0067] Preferably, the first of the first loading aids (first source loading aids) 3a can contain a product 13 of a first product type, the second of the first loading aids (second source loading aids) 3b can contain a product 13 of a second product type, and optionally a third of the first loading aids (third source loading aids) 3c can contain a product 13 of a third product type, and optionally a fourth of the first loading aids (fourth source loading aids) 3d can contain a product 13 of a fourth product type. The first, second, third, and fourth product types can be different.

[0068] In particular, the goods 13 can be picked up in the first loading aids (source or destination loading aids) 3a, 3b, 3c, 3d in a “single-sort” manner.

[0069] The transport loading aid 8 can comprise a transport frame 27 and the transport floor 25 is attached to the transport frame 27.

[0070] In particular, the drive system 31 of the driverless first transport vehicle 6 can comprise a plurality of separately controllable drive wheels mounted on the vehicle frame 30. This allows a rotational movement of the driverless first transport vehicle 6 to be achieved by differential speed control of the drive wheels. Each drive wheel is driven at a different speed to rotate the driverless first transport vehicle about its vertical axis. If the transport loading aid 8 is received on the loading platform 32 and lifted from the driving surface 12, a rotational movement of the transport loading aid 8 about a vertical axis 36 can also be achieved by the rotational movement of the driverless first transport vehicle 6.

[0071] A rotational movement of the driverless first and / or second transport vehicle 6, 7 can preferably be achieved by differential speed control of the drive wheels. Each drive wheel is driven at a different speed to rotate the driverless first transport vehicle about its vertical axis. To move forward or backward, however, the two drive wheels are driven at the same speed. The drive system of the driverless first transport vehicle can comprise one or more drive motors. Each drive wheel can be coupled to a drive motor, or the drive wheels can be coupled to a drive motor via a transmission.

[0072] In the Fig. 3a and Fig. Figure 3b shows preferred embodiments of the driverless transport vehicle 6 in a sectional view, with the rotary drive 31 shown as an example. According to this embodiment, the loading platform 32 for receiving the transport loading aid 8 can be mounted on the vehicle frame 30 via the rotary drive 35 so that it can rotate about a vertical axis 37.

[0073] If the transport loading aid 8 is picked up on the loading platform 32 and lifted from the driving surface 12, a rotational movement of the transport loading aid 8 about a vertical axis 36 can be achieved by the rotational movement of the loading platform 32, but with the driverless first transport vehicle 6 stationary.

[0074] The transport floor 25 comprises at least two adjacently arranged storage spaces 26, as described above and not repeated again. The transport floor 25 can comprise four adjacently arranged storage spaces 26, two of which are arranged in a first row and two of which are arranged in a second row, as described above and not repeated again.

[0075] If the order picking system 1 also includes a driverless third transport vehicle 7 and, if appropriate, a driverless further transport vehicle 7, these can be designed according to the design of the driverless second transport vehicle 7.

[0076] The driverless first transport vehicle 6 and the driverless second transport vehicle 7 may differ structurally. In particular, a size and / or load capacity may differ, since the driverless first transport vehicle 6 simultaneously transports several source loading aids 3a, 3b, 3c, 3d on the transport loading aid 8, while the driverless second transport vehicle 7 can primarily transport a single target loading aid 4.

[0077] The Fig.1 shows at least parts of a preferred embodiment of a transfer station 5 for transferring goods 13 in an oblique view. The transfer station 5 comprises a first staging area A for staging goods 13 at a first position and a second staging area B for delivering the goods 13 at a second position spaced from the first position. Furthermore, the transfer station 5 comprises a robot 11, within whose operative area W the first staging area A and the second staging area B lie, and which is configured to move the goods 13 from the first position to the second position.

[0078] Preferably, the picking system 1 and / or the transfer station 5 can include a camera 18d. This can provide additional support for the robot 11 in gripping the goods 13.

[0079] At this point, it should be noted that a transfer station 5 can generally have several first staging areas A and / or second staging areas B. In this way, even more complex transfer processes can be carried out.

[0080] All information on value ranges in this description is to be understood as including any and all sub-ranges thereof, e.g. the information 1 to 10 is to be understood as including all sub-ranges starting from the lower limit of 1 and the upper limit of 10, ie all sub-ranges begin with a lower limit of 1 or greater and end with an upper limit of 10 or less, e.g. 1 to 1.7, or 3.2 to 8.1, or 5.5 to 10.

[0081] For the sake of clarity, it should finally be pointed out that, in order to better understand the structure, some elements have been shown out of scale and / or enlarged and / or reduced in size. List of reference symbols 1 picking system 2 Order management system 3 Source loading aids 3a first loading equipment 3b first loading equipment 3c first loading equipment 3d first loading equipment 4 second loading aids 5 Transfer station 6 first transport vehicle 7 second transport vehicle 8 Transport loading aid 9 Control 10 warehouses 11 robots 12 Driving surface 13 goods 14a Robot base 14b Robot arm 15 gripper carriers 16 grippers 17a Arm segment 17b Arm segment 17c arm segment 17d arm segment 17th arm segment 18d camera 20 Object recognition module 25 Transport floor 26 parking spaces 27 Transport frame 30 vehicle frame first transport vehicle 31 Drive first transport vehicle 32 Loading platform first transport vehicle 33 wheel first transport vehicle 34 Lifting drive first transport vehicle 35 Rotary drive first transport vehicle 36 Vertical axis first transport vehicle 37 vertical axis loading platform 44 Vertical axis transport loading aid A first staging area B second staging area C movement axis robot K turning circle S circular sector W Scope QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] WO 2019 / 169419 A2

[0002] WO 2016 / 138101 A1

[0003]

Claims

[1] Transfer station (5) of a picking system (1) for processing picking and / or sorting orders for goods (13), comprising a robot () with an area of ​​effect (W) for gripping the goods, a first provision area (A) for driverless transport units and a second provision area (B) for driverless transport units, wherein the first provision area (A) and the second provision area (B) are each arranged at least partially in the effective area of ​​the robot, a first driverless transport unit, wherein the first driverless transport unit comprises a first driverless transport vehicle (6), a first transport loading aid (8) and a first drive device, wherein at least two first loading aids (3a, 3b, 3c, 3d) can be received by the first transport loading aid (8), wherein the first transport loading aid (8) can be received by the first driverless transport vehicle (6) and can be made available at the first provision area (A), wherein the at least two first loading aids (3a, 3b, 3c, 3d) can be displaced relative to a vertical axis (37) of the first transport unit by means of the first drive device for arrangement in the effective area (W) of the robot, a second driverless transport unit comprising a second driverless transport vehicle (7), wherein at least one second loading aid (4) can be picked up by the second driverless transport vehicle (7) and can be made available at the second supply area (B) completely within the effective area (W) of the robot. [2] Transfer station (5) according to claim 1, characterized by in that the second driverless transport unit comprises a second transport loading aid (8) and a second drive device, wherein at least two second loading aids (4) can be received by the second transport loading aid (8), wherein the second transport loading aid (8) can be received by the second driverless transport vehicle (7) and can be made available at the second provision area (B), wherein the at least two second loading aids (4) can be displaced relative to a vertical axis of the second transport unit by means of the second drive device for arrangement in the effective area (W) of the robot. [3] Transfer station (5) according to claim 1 or 2, characterized by that the first drive device or the first drive device and the second drive device are arranged on the driverless transport vehicle (6, 7) or on the transport loading aid (8). [4] Transfer station (5) according to one of claims 1 to 3, characterized by in that the first transport loading aid (8) or the first and second transport loading aids (8) comprise a transport frame (27), wherein a transport floor (25) for the loading aids is fastened to the transport frame (27) and wherein the transport floor (25) can be placed on a base by means of feet. [5] Transfer station (5) according to one of claims 1 to 4, characterized bythat the first driverless transport vehicle (6, 7) or the first and second driverless transport vehicles (6, 7) comprise a vehicle frame (30), a travel drive (31) and a loading platform (32) arranged on the vehicle frame (30) for receiving the transport loading aid (8). [6] Transfer station (5) according to claim 5, characterized by that the loading platform (32) for receiving the transport loading aid (8) is mounted on the vehicle frame (30) via a lifting drive (34) so ​​that it can be raised and lowered. [7] Transfer station (5) according to claim 5 or 6, characterized by that the loading platform (32) for receiving the transport loading aid (8) is mounted on the vehicle frame (30) via a rotary drive (35) so as to be rotatable about the respective vertical axis (37). [8] Transfer station (5) according to claim 4, characterized by that the first drive device or the first and second drive devices is / are mounted on the respective transport frame (27). [9] Transfer station (5) according to claim 1 or 2, characterized by that the first loading aids (3a, 3b, 3c, 3d) and / or the second loading aids (4) are designed as a self-propelled first drive device and / or as a self-propelled second drive device. [10] Order picking system (1) comprising a transfer station (5) according to one of claims 1 to 9, a warehouse (10) with goods provided in loading aids and an electronic order management system (2) for recording orders.

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