Picking station for automatic picking of goods

Description

[0001] The invention relates to a picking station for picking goods from source containers into target containers.

[0002] US 2014 / 0244026 A1 discloses the preamble of patent claim 1, in particular a picking station for picking goods from source containers into target containers, comprising a first conveyor system for the automated transport of source containers and target containers, delivery devices for providing source containers and target containers, a second conveyor system for the automated removal of source containers and target containers, a fully automated robot system with an articulated arm robot on a gantry and a camera system for detecting the goods in the source container, and a robot controller which is connected to the sensor system and controls the articulated arm robot with a gripping unit.

[0003] A picking station for picking goods from source containers to target containers is also known from WO 2016 / 163666 A1, which comprises a source container conveyor system for the automated transport of source containers, a target container conveyor system for the automated transport of target containers, a fully automated robot system with a robot, and a sensor system for detecting the goods in the source container. The sensor system is arranged at a distance from the robot so that the goods in the source container are detected and a product is removed from the source container at various staging positions. A gantry arm that can rotate through an angle of rotation (DW) relative to the vertical axis can be attached to the robot. The gantry arm is equipped with a gripper unit that can pivot through an angle of articulation (W) in a single direction relative to the horizontal axis.

[0004] WO 2016 / 138101 A1 creates a pick list of location data of items in the scanned source container. The picking of goods is based on the location data of the goods in the source container. The goods are picked from this pick list one after the other until the source container is completely empty. Multiple picking operations can occur without recapturing images. However, this ignores the fact that goods can slip between individual picking operations, and it cannot be guaranteed that the goods can be picked correctly or at all during the next picking operation. This results in numerous disruptions and low picking performance.

[0005] A picking station for the fully automated picking of various goods with a single robot is also known from EP 2 984 007 B1 and EP 2 315 714 B1. Thus, orders can only be processed sequentially, which results in a rather low picking performance of the picking station.

[0006] US Pat. No. 9,751,693 B1 discloses a picking station in which several robots are moved relative to the source containers arranged one behind the other on a conveyor. Each robot is equipped with a gripping unit. The goods are removed from the source containers and placed on a storage rack.

[0007] A gantry robot of the aforementioned type is also known in principle from DE 44 07 324 A1, US 5,564,893 A1, and JPS 52-59475 A1. However, the known designs of gantry robots are not suitable, or only inadequately, for picking goods.

[0008] One object of the invention is therefore to provide an improved picking station for picking goods from source containers to target containers. In particular, the above-mentioned disadvantages are to be overcome and high picking performance is to be achieved. In particular, the picking process is to be carried out with exceptional reliability, thus minimizing disruptions.

[0009] The object of the invention is solved by the features of claim 1.

[0010] According to the invention, the robot is formed by a gantry robot. The gantry robot comprises a gantry arm mounted on the third gantry carriage for rotation about a first, vertical axis of rotation and movable via a fourth drive device, and further comprises a gripper receptacle mounted on the gantry arm for rotation about a second, horizontal axis of rotation and movable via a fifth drive device, to which the gripping unit is attached. This combines the advantages of a vertical axis of rotation and a horizontal axis of rotation. Consequently, the gripping unit can be moved particularly well into an advantageous gripping pose. It is particularly advantageous if the gantry arm can be rotated about a vertical axis, preferably by 360° (and in particular endlessly), and is height-adjustable in the vertical direction.The gantry arm can be moved vertically toward the bottom of a (source) container or (target) container, and the gripping unit can be rotated into an angular position, if necessary, to remove goods from a (source) container and / or deposit them into a (target) container. The optimal gripping position can thus be achieved by keeping the gantry arm in its vertical position while pivoting the gripping unit relative to the gantry arm. In other words, and this is particularly advantageous, the gantry arm is rotated exclusively in the vertical direction (preferably 360°) relative to the third gantry carriage, but not tilted relative to the vertical axis. The gantry arm and gripping unit can thus "immerse" themselves very close to a side wall of a (source) container and / or (target) container. This allows goods to be removed from the edge of a (source) container, even those that would otherwise be very difficult to grip.For example, goods leaning against a container wall can also be grasped, i.e., goods located at the edge and with a gripping surface inclined relative to the horizontal. The same applies if goods are to be delivered to the edge of a (target) container.

[0011] A particular advantage of the gantry robot is that, at the same movement speed, the drive forces increase less sharply when the effective range (i.e., the area the robot can reach with its gripping unit) is increased than is the case with an articulated-arm robot. This is because linear mass inertia is primarily decisive for gantry robots, whereas moments of inertia play a role in articulated-arm robots, and the drive forces increase more than linearly when the effective range is increased. The mass inertia of the gantry carriages of a gantry robot advantageously does not change at all when the first direction (x-direction) is extended.The use of a gantry robot is therefore particularly advantageous when particularly large loading aids or a particularly large number of loading aids are to be accessed by the gantry robot at the same time, as is often required or necessary in complex order picking processes.

[0012] For example, this is the case with a picking station with two picking stations for source containers and two loading stations for target containers.

[0013] Due to the aforementioned linear movements of the gantry slides, a first source container, second source container, first target container and second target container can be easily reached, even if they are provided at the corners of an (imaginary) rectangle.

[0014] However, if the articulated-arm robot is not enlarged to accommodate the increased operating range in order to avoid excessively increasing the driving forces, it may be expected that "shadow areas" will occur, i.e., areas that the articulated-arm robot cannot reach. This problem arises particularly during order picking using (source) containers and / or (target) containers, since the outermost arm segment of the articulated-arm robot cannot be inserted vertically into a container that is further away from the articulated-arm robot's central rotation axis due to the height of the containers. The inclined arm segment then creates the aforementioned shadow areas. Goods stored in these areas in the (source) container cannot be picked up. Furthermore, the goods cannot be transferred to a (target) container in these areas either.This results in unfavorable filling from one side only. The use of a gantry robot advantageously avoids these problems.

[0015] Another advantage of gantry robots is that they don't have singularities, as is the case with articulated-arm robots—points in space that can be reached through multiple (potentially infinite) axis positions. The path control system for the gantry robot can therefore be designed more simply.

[0016] According to the invention, the picking station comprises a fully automated robot system with a gantry robot, at least one removal station at which a source container is provided, and at least one loading station at which a target container is provided.

[0017] In particular, small goods that are kept in source containers for better storage and transport can be brought into the movement area of ​​the gantry robot.

[0018] The gantry robot comprises a gripping unit coupled to the third gantry carriage, mounted so as to be rotatable about a first axis of rotation and movable via a fourth drive device.

[0019] The first rotation axis is vertically aligned, which also allows the gripping unit to be easily moved into an advantageous gripping position for gripping goods. This is particularly advantageous if the gripping unit is not (rotationally) symmetrical when viewed from below.

[0020] It is also particularly advantageous if the portal arm has a side wall that is recessed relative to a maximum cross-sectional contour, extending from the lower end toward the upper end and forming a substantially flat boundary surface. The recessed boundary surface of the portal arm allows it to be immersed in a container particularly close to a container wall.

[0021] In the above context, it is also particularly advantageous for a picking station if it has a source container arranged at the at least one removal station and / or a target container arranged at the at least one loading station, wherein an immersion height, measured from the upper end of the aforementioned flat, vertical boundary surface of the portal arm to the lower end of the gripping unit, is greater than 1.1 times the container height of the source container and / or the target container. This allows the gripping unit to be immersed even in the region of the container wall down to the bottom of the container.

[0022] It is also particularly advantageous if the picking station has at least one container drive for rotating the at least one removal location (including a source container provided thereon) and the at least one loading location (including a target container provided thereon) relative to the base frame of the gantry robot about a vertical axis of rotation, and / or for tilting the at least one removal location (including a source container provided thereon) and the at least one loading location (including a target container provided thereon) relative to the base frame of the gantry robot about a horizontal axis of rotation includes.

[0023] This also allows the gripping unit to be easily moved into an advantageous gripping position for gripping goods, but by rotating the source container and / or target container relative to the gantry robot. If the source container and the target container can be rotated about a vertical axis of rotation, the gripping unit itself does not need to be mounted so it can rotate about a vertical axis of rotation relative to the third gantry carriage. Likewise, the gripping unit does not need to be mounted so it can rotate about a horizontal axis of rotation relative to the third gantry carriage if the source container and the target container can be tilted about a horizontal axis of rotation.

[0024] It is still advantageous if the source container conveyor system additionally has a second delivery device which comprises a second removal location, and the target container conveyor system additionally has a second delivery device which comprises a second loading location.

[0025] In this way, the source containers and target containers can be automatically brought into the range of the gantry robot.

[0026] A working area of ​​the robot, within which the gripping unit is moved, is designed such that it includes the first delivery device with the first removal location, the second delivery device with the second removal location, the first delivery device with the first loading location, and the second delivery device with the second loading location. In this context, the term "includes" is to be understood such that the working area borders a delivery plane of the first / second delivery device or a delivery plane of the first / second delivery device intersects the working area. The working area is a three-dimensional space. It is therefore also referred to as a workspace. The working area can form a rectangular base area if the robot is designed as a gantry robot. The robot is preferably installed stationary.

[0027] If the first source container is located at the first removal location, the second source container at the second removal location, the first target container at the first loading location and / or the second target container at the second loading location, these are provided within the work area.

[0028] In other words, the robot system may comprise only a single robot which can access more than one source container, in particular the first source container and second source container, and more than one target container, in particular the first target container and second target container.

[0029] Time-consuming swivel movements of the robot and gripping unit are hardly required. This not only significantly increases the number of times goods are removed from a source container and deposited into a target container, but also minimizes the number of items falling from the gripping unit. Overall, picking performance can be increased compared to conventional picking stations. Furthermore, the picking station has a very compact design. In particular, such an automatic picking station can be easily implemented in an existing warehouse and picking system with a manual picking station.

[0030] WO 2018 / 006112 A1 describes such a manual picking station. As can be seen, the manual picking station is connected to a source container conveyor system for transporting source containers to the picking station and removing source containers from the picking station, as well as to a target container conveyor system for transporting target containers to the picking station and removing target containers from the picking station. Only the source container conveyor system and the target container conveyor system in the picking station need to be replaced, and the robot system needs to be supplemented.

[0031] In a further advantageous embodiment, the fully automated robot system comprises a sensor system, in particular a camera system, at least for detecting the goods in a first source container and in a second source container, and a robot controller connected to the sensor system and controlling the robot with the gripping unit. In this way, the picking process can be fully automated. In particular, the proposed measures also allow for the correction of any errors that may occur during picking.

[0032] It is also advantageous if the source container conveyor system includes a first conveyor device for transporting the source containers, a second conveyor device for transporting the source containers away from the first supply device and second supply device, a first transfer device for transporting a first source container from the first conveyor device to the first supply device, and a second transfer device for transporting a second source container from the first conveyor device to the second supply device, wherein the first supply device is connected to the first removal location at which the first source container is provided by the first transfer device to the first conveyor device, wherein the second supply device is connected to the second removal location at which the second source container is provided by the second transfer device to the first conveyor device,and wherein the first supply device with the first removal location and the second supply device with the second removal location are arranged along the second conveyor device for transporting source containers away, and / or the target container conveyor system comprises a first conveyor device for transporting the target containers, a second conveyor device for transporting the target containers away from the first supply device and second supply device, a first transfer device for transporting a first target container from the first conveyor device to the first supply device, and a second transfer device for transporting a second target container from the first conveyor device to the second supply device, wherein the first supply device is connected to the first loading location, at which the first target container is provided, by the first transfer device to the first conveyor device,wherein the second supply device is connected to the second loading location, at which the second target container is provided, by the second transfer device to the first conveying device, and wherein the first supply device is arranged to the first loading location and the second supply device is arranged to the second loading location along the second conveying device for transporting target containers away, wherein the first supply device with the first removal location and the first supply device with the first loading location are opposite one another, wherein the second supply device with the second removal location and the second supply device with the second loading location are opposite one another, and wherein the second conveying device for transporting away source containers and the second conveying device for transporting away target containers are arranged in parallel.

[0033] The advantage here is that the source container and target container for a first order, or the source container and target container for a second order, can be positioned close to each other, thus making the movements of the robot / gripping unit particularly short. The robot and gripping unit can be moved along simple trajectories.

[0034] For a better understanding of the invention, it is explained in more detail with reference to the following figures.

[0035] They show in a highly simplified, schematic representation: Fig. 1 shows a section of a storage and picking system with a storage area and several picking stations, which are not designed according to the invention; Fig. 2 shows a picking station for the automated picking of goods, which is not designed according to the invention, and a section of a source container distribution system and a target container distribution system, in a perspective view; Fig. 3 shows a source container conveyor system and a target container conveyor system of the picking station and a section of a source container distribution system and a target container distribution system, in a plan view; Fig. 4 shows a source container conveyor system and a target container conveyor system of the picking station, in a plan view; Figs. 5a to 5b show a sequence of method steps for processing a number of orders and providing the source containers and target containers at the picking station according to a first embodiment, in a plan view; Fig.6a to 6e show a sequence of method steps for processing a number of orders and providing the source containers and target containers at the picking station according to a second embodiment, in plan view; Fig. 7 shows a combination of a picking station with automatic picking, which is not designed according to the invention, and a picking station with manual picking; Fig. 8 shows a picking station according to the invention with a gantry robot, at which a source container is provided, seen obliquely from the front; Fig. 9 shows the picking station from . Fig. 8 seen diagonally from behind; Fig. 10 the gantry robot from Fig. 8 with gripping unit extended downwards; Fig. 11 the gantry robot Fig. 10 seen diagonally from behind; Fig. 12a a detailed view of the portal arm with the gripping unit arranged in the lower area seen diagonally from the front; Fig. 12b the portal arm from Fig. 12a seen obliquely from behind; Fig. 13loading the portal arm from Fig. 12a with a gripping unit moved into different swivel positions (for example ± 45°) seen from the left; Fig. 13b the portal arm from Fig. 13a seen from the right; and Fig. 14 the flattened portal arm immersed in a tank close to a tank wall.

[0036] By way of introduction, it should be noted that in the variously described embodiments, identical parts are provided with identical reference symbols or component designations. The disclosures contained throughout the description can be applied analogously to identical parts with identical reference symbols or component designations. Furthermore, the positional information chosen in the description, such as top, bottom, side, etc., refers to the directly described and illustrated figure and, in the event of a change in position, is to be applied analogously to the new position.

[0037] In the Fig. 1 a storage and picking system for picking goods is shown, comprising a storage area 1 and one or more picking stations 2 for picking goods with a robot system, a source container distribution system 3 and a target container distribution system 4.

[0038] In the context of the invention, a "good" is understood to mean in particular an individually manageable object or an individually manageable group of objects.

[0039] The storage area 1 shown as an example is primarily used to provide a large number of source containers 5, in which Fig. 2 represented goods A, B, etc., namely (warehouse) items are contained. The source containers 5 can each contain a single type of goods. For example, a first source container 5a contains goods A, a second source container 5b contains goods B, etc. On the other hand, the source containers 5 can be divided into several receiving compartments by partition walls and can accommodate different types of goods, whereby the first receiving compartment can accommodate goods A and the second receiving compartment can accommodate goods B. By segmented source containers 5, the range of goods in the storage area 1 can be increased.

[0040] In principle, it is also conceivable for the target containers to be divided into multiple receiving compartments by partition walls, each containing different orders. The first receiving compartment can hold a first order containing one or more items, and the second receiving compartment can hold a second order containing one or more items. However, the target containers can also be designed without partition walls and accommodate different orders. By segmenting the target containers, the sorting buffer described below can be reduced in size, thus reducing the number of sorting locations and buffer locations.

[0041] The invention is not limited to containers. Rather, other loading aids, such as trays, cartons, and the like, can also be used. The source container corresponds to a source loading aid, and the target container corresponds to a target loading aid.

[0042] The storage area 1 preferably comprises an automated warehouse. According to the exemplary embodiment shown, the storage area 1 comprises parallel storage racks 6 and a rack aisle 7 provided between the storage racks 6. Each storage rack 6 forms a plurality of storage locations 8, on which the source containers 5 are stored, in stacked rack levels. In the example shown, two storage racks 6 are shown. Within the scope of the invention, however, more than two storage racks 6 can also be provided, with a rack aisle 7 being formed between each adjacent storage rack 6.

[0043] The source container distribution system 3 is used to transport source containers 5 between the storage area 1 and the picking station(s) 2. The source container distribution system 3 is preferably an automated source container distribution system. The retrieval of source containers 5 from the storage area 1 and the transport of the source containers 5 from the storage area 1 to the picking station 2 can be automated.

[0044] The source container distribution system 3 comprises, for example, one or more storage and retrieval devices 9 and a source container conveyor system between the storage area 1 and the picking stations 2 in order to transport source containers 5 from the storage area 1 to the respective picking stations 2 and to transport source containers 5 from the picking stations 2 to the storage area 1.

[0045] The source container conveyor system between the storage area 1 and the picking stations 2 can, for example, comprise a first conveyor device 10 for transporting source containers 5 to the storage area 1, a second conveyor device 11 for transporting source containers 5 away from the storage area 1, a third conveyor device 12 for transporting source containers 5 to the picking station 2, a fourth conveyor device 13 for transporting source containers 5 away from the picking station 2, and finally a fifth conveyor device 14 for transporting source containers 5 between the conveyor devices 10, 11, 12, 13. The fifth conveyor device 14 comprises infeed and / or outfeed devices 15 for transporting the source containers 5 between the conveyor devices 10 to 14. The fifth conveyor device 14 is, for example, a closed conveyor loop. The infeed and / or outfeed device 15 is formed, for example, by a belt transfer device.

[0046] The source container distribution system 3 may additionally comprise a transfer device 16 for transporting source containers 5 between the storage and retrieval device 9 and the source container conveyor system.

[0047] If single-level storage and retrieval machines are used as storage and retrieval machines 9 in storage area 1, guideways 17 are arranged in pairs on superimposed (horizontal) travel levels. The guideways 17 are preferably attached to the adjacent storage racks 6. The single-level storage and retrieval machines (shuttles), which can be controlled independently of one another by a control unit, can be moved along the rack aisle 7 and can be moved on the superimposed travel levels in front of the storage locations 8.

[0048] The storage and retrieval device 9 comprises a loading platform and a transport device 18 (load-handling device). The transport device 18 can manipulate the source containers 5 between the loading platform and the storage location 8, namely, store source containers 5 in the storage racks 6 arranged on both sides of the storage and retrieval device 9 or retrieve source containers 5 from the storage racks 6 arranged on both sides of the storage and retrieval device 9. It can be provided that at least one storage and retrieval device 9 is assigned to each rack level. Thus, one storage and retrieval device 9 serves one rack level via the transport device 18.

[0049] The storage and retrieval of source containers 5 by means of the storage and retrieval devices 9, the transfer device 16 and the conveying devices 10, 11 is described in detail in WO 2013 / 090970 A2.

[0050] The transfer device 16 comprises a first buffer device 19a, a first lifting device 20a, a second buffer device 19b and a second lifting device 20b.

[0051] The buffer device 19a comprises, for each travel level, provision devices for the temporary buffering of one or more source containers 5 to be stored, and the buffer device 19b comprises, for each travel level, provision devices for the temporary buffering of one or more source containers 5 to be retrieved. Other design variants are also possible, as described in WO 2013 / 090970 A2.

[0052] The lifting devices 20a, 20b are stationary and each comprise a transfer device that can be raised and lowered via a lifting drive. Preferably, the transfer devices are each mounted on a vertical mast and each comprise a drivable conveyor device.

[0053] The source container distribution system 3 may comprise an optional turning station 23 with which the source containers 5 discharged from the fifth conveyor device 14 are rotated from a transverse orientation into a longitudinal orientation.

[0054] As in Fig. 3 As shown in detail, the picking station 2 comprises a source container conveyor system for the automated transport of the source containers 5, in particular for transporting source containers 5 to a first delivery device 24a and a second delivery device 24b and for transporting source containers away from the first delivery device 24a and the second delivery device 24b.

[0055] The source container conveyor technology of picking station 2, as shown in the Fig. 3 and 4is shown, comprises a first conveyor device 25 for transporting source containers 5a, 5b, the first supply device 24a for providing a first source container 5a, a second supply device 24b for providing a second source container 5b and a second conveyor device 26 for transporting the source containers 5a, 5b away from the first supply device 24a and second supply device 24b. The first conveyor device 25 and second conveyor device 26 each comprise at least one conveyor means 22a, 22b. The conveyor means 22a is driven and coupled to a drive motor. The conveyor means 22a has, for example, conveyor rollers rotatably mounted on a frame. The conveyor means 22b is driven and coupled to a drive motor. The conveyor means 22b has, for example, conveyor rollers rotatably mounted on a frame.According to the embodiment shown, the first conveyor device 25 and second conveyor device 26 are preferably formed by a roller conveyor and comprise a plurality of conveyor rollers, at least some of which are driven by a drive motor.

[0056] The first supply device 24a with the first removal location 27a and the second supply device 24b with the second removal location 27b are arranged one behind the other along the second conveyor device 26 and in the conveying direction (arrow).

[0057] The first supply device 24a is connected to the first conveyor device 25 by means of conveying technology and includes a first removal station 27a. Preferably, the first supply device 24a is connected to the first conveyor device 25 by means of a first transfer device 28. A first source container 5a is transported by the first conveyor device 25 and subsequently transported by the first transfer device 28 to the first supply device 24a at the first removal station 27a. The first source container 5a is then provided (upright) at the first removal station 27a.

[0058] The second supply device 24b is connected to the first conveyor device 25 by means of conveying technology and includes a second removal station 27b. Preferably, the second supply device 24b is connected to the first conveyor device 25 by means of a second transfer device 29. A second source container 5b is transported by the first conveyor device 25 and subsequently transported by the second transfer device 29 to the second supply device 24b at the second removal station 27b. The second source container 5b is then provided (upright) at the second removal station 27b.

[0059] According to the embodiment shown, the first transfer device 28 and second transfer device 29 each comprise a first conveyor 30a and a second conveyor 30b, which are formed, for example, by a first belt transfer device and a second belt transfer device. Such belt transfer devices (and this also applies to the belt transfer devices mentioned elsewhere) have conveyor belts coupled to a drive motor, which are mounted on a lifting mechanism and form the conveying plane.

[0060] The conveyor belts of the first belt transfer device can be adjusted via the lifting mechanism between a lowered rest position, in which the conveyor belts are lowered below the conveying plane of the first conveyor device 25 and a source container 5b is transported from the first conveyor device 25 to the second transfer device 29, and a raised conveying position, in which a source container 5a, 5b is lifted from the first conveyor device 25 and conveyed via the conveyor belts transversely to the first conveyor device 25.

[0061] The conveyor belts of the second belt transfer device can be adjusted via the lifting mechanism between a raised conveying position, in which a source container 5a, 5b is taken over by the first belt transfer device and conveyed via the conveyor belts transversely to the second conveyor device 26, and a lowered rest position, in which the conveyor belts are lowered below the conveying plane of the second conveyor device 26 and a source container 5a, 5b is placed on the second conveyor device 26.

[0062] The described embodiment of the first transfer device 28 and second transfer device 29 is by no means intended to be limiting. The first transfer device 28 and second transfer device 9 enable a transverse displacement of a first source container 5a transported on the first conveyor device 25 and a transverse displacement of a second source container 5b transported on the first conveyor device 25 in order to transport the first source container 5a to the first delivery device 24a and the second source container 5a to the second delivery device 24b.

[0063] In a preferred embodiment, the first supply device 24a with the first removal location 27a and the second supply device 24b with the second removal location 27b are formed on the second conveyor device 26 for the removal of source containers 5a, 5b. Specifically, the first supply device 24a with the first removal location 27a and the second supply device 24b with the second removal location 27b are formed by conveyor sections on the second conveyor device 26 for the removal of source containers 5a, 5b. These conveyor sections each comprise a control unit 31 ( Fig. 1 ) controllable and drivable conveyor means 22b. The conveyor means 22b comprises a plurality of conveyor rollers, at least some of which are driven by a drive motor.

[0064] The conveyor 22b of a first conveyor section is controlled and driven by the control unit 31 to transport a first source container 5a from the first delivery device 24a to a first order by the second conveyor 26 after processing an order line. Likewise, the conveyor 22b of a second conveyor section is controlled and driven by the control unit 31 to transport a second source container 5b from the second delivery device 24b to a second order by the second conveyor 26 of an order line.

[0065] As in Fig. 4 As indicated, a buffer device 32 with at least one buffer location is provided between the first supply device 24a with the first removal location 27a and the second supply device 24b with the second removal location 27b, at which buffer location a second source container 5b can be buffered after picking (after processing an order line for a second order). The buffer device 32 is preferably formed on the second conveyor device 26 for transporting source containers 5a, 5b away.

[0066] Specifically, the buffer device 32 with the at least one buffer location is formed by a conveyor section on the second conveyor device 26 for transporting source containers 5a, 5b away. This conveyor section comprises a conveyor 22b (not shown) that can be controlled and driven by the control unit 31. The conveyor 22b comprises a plurality of conveyor rollers, at least some of which are driven by a drive motor. The conveyor 22b of the aforementioned conveyor section is controlled and driven by the control unit 31 in order to transport a second source container 5b from the second supply device 24b to the buffer location and to transport a second source container 5b away from the buffer location. The second source container 5b passes the first supply device 24a and is transported away by the second conveyor device 26.

[0067] The first conveyor device 25 and the second conveyor device 26 have opposite conveying directions, as shown in the Fig. 3 and 4 indicated by the arrows. Preferably, the conveying means 22a of the first conveying device 25 are driven unidirectionally, and the conveying means 22b of the second conveying device 26 are driven unidirectionally.

[0068] Picking station 2 is connected to the source container conveyor system of the source container distribution system. Specifically, picking station 2 connects to the third conveyor 12 via the first conveyor 25 and to the fourth conveyor 13 via the second conveyor 26.

[0069] As in the Fig. 3 and 4As shown in detail, the picking station 2 comprises a target container conveyor system for the automated transport of the target containers 33, in particular for transporting target containers 33 to a first delivery device 34a and a second delivery device 34b and for transporting target containers 33 away from the first delivery device 34a and the second delivery device 34b.

[0070] The target container conveyor system of the picking station 2 comprises a first conveyor device 35 for transporting target containers 33, the first supply device 34a for providing a first target container 33a, a second supply device 34b for providing a second target container 33b and a second conveyor device 36 for transporting the target containers 33 away from the first supply device 34a and second supply device 34b.

[0071] The first conveyor device 35 and second conveyor device 36 each comprise at least one conveyor 22a, 22b. The conveyor 22a is driven and coupled to a drive motor. The conveyor 22a has, for example, rotatably mounted conveyor rollers on a frame. The conveyor 22b is driven and coupled to a drive motor. The conveyor 22b has, for example, rotatably mounted conveyor rollers on a frame. According to the embodiment shown, the first conveyor device 35 and second conveyor device 36 are preferably formed by a roller conveyor and comprise a plurality of conveyor rollers, at least some of which are driven by a drive motor.

[0072] The first supply device 34a with the first loading station 37a and the second supply device 34b with the second loading station 37b are arranged one behind the other along the second conveyor device 36 and in the conveying direction (arrow).

[0073] The first delivery device 34a is connected to the first conveyor device 35 by means of conveying technology and comprises a first loading station 37a. Preferably, the first delivery device 34a is connected to the first conveyor device 35 by means of a first transfer device 38. A first target container 33a is transported by the first conveyor device 35 and subsequently transported by the first transfer device 38 to the first delivery device 34a at the first loading station 37a. The first target container 33a is then provided (upright) at the first loading station 37a.

[0074] The second delivery device 34b is connected to the first conveyor device 35 by means of conveying technology and includes a second loading station 37b. Preferably, the second delivery device 34b is connected to the first conveyor device 35 by means of a second transfer device 39. A second target container 33b is transported by the first conveyor device 35 and subsequently transported by the second transfer device 39 to the second delivery device 34b at the second loading station 37b. The second target container 33b is then provided (upright) at the second loading station 37b.

[0075] According to the illustrated embodiment, the first transfer device 38 and second transfer device 39 each comprise a first conveyor 30a and a second conveyor 30b, which are formed, for example, by a first belt transfer device and a second belt transfer device. Such belt transfer devices (and this also applies to the belt transfer devices mentioned elsewhere) have conveyor belts coupled to a drive motor, which are mounted on a lifting mechanism and form the conveying plane.

[0076] The conveyor belts of the first belt transfer device can be adjusted via the lifting mechanism between a lowered rest position, in which the conveyor belts are lowered below the conveying plane of the first conveyor device 35 and a target container 33b is transported from the first conveyor device 35 to the second transfer device 39, and a raised conveying position, in which a target container 33a, 33b is lifted from the first conveyor device 35 and conveyed via the conveyor belts transversely to the first conveyor device 35.

[0077] The conveyor belts of the second belt transfer device can be adjusted via the lifting mechanism between a raised conveying position, in which a target container 33a, 33b is taken over by the first belt transfer device and conveyed via the conveyor belts transversely to the second conveyor device 36, and a lowered rest position, in which the conveyor belts are lowered below the conveying plane of the second conveyor device 36 and a target container 33a, 33b is placed on the second conveyor device 36.

[0078] The described embodiment of the first transfer device 38 and second transfer device 39 is by no means intended to be limiting. The first transfer device 38 and second transfer device 39 enable a transverse displacement of a first target container 33a transported on the first conveyor device 35 and a transverse displacement of a second target container 33b transported on the first conveyor device 35 in order to transport the first target container 33a to the first delivery device 34a and the second target container 33a to the second delivery device 34b.

[0079] In a preferred embodiment, the first delivery device 34a with the first loading station 37a and the second delivery device 34b with the second loading station 37b are formed on the second conveyor device 36 for transporting target containers 33a, 33b. Specifically, the first delivery device 34a with the first removal station 37a and the second delivery device 34b with the second loading station 37b are formed by conveyor sections on the second conveyor device 36 for transporting target containers 33a, 33b.

[0080] These conveyor sections each comprise a conveyor belt controlled by the control unit 31 ( Fig. 1 ) controllable and drivable conveyor means 22b. The conveyor means 22b comprises a plurality of conveyor rollers, at least some of which are driven by a drive motor.

[0081] The conveyor 22b of a first conveyor section is controlled and driven by the control unit 31 to transport a first target container 33a from the first delivery device 34a through the second conveyor device 36 after processing an order line for a first order. Likewise, the conveyor 22b of a second conveyor section is controlled and driven by the control unit 31 to transport a second target container 33b from the second delivery device 34b through the second conveyor device 36 after processing an order line for a second order.

[0082] As in Fig. 3 As can be seen, a buffer device 40 with at least one buffer location is provided between the first delivery device 34a with the first loading location 37a and the second delivery device 34b with the second loading location 37b, at which a second target container 33b can be buffered after picking (after processing an order line for a second picking order). The buffer device 40 is preferably formed on the second conveyor device 36 for transporting target containers 33a, 33b.

[0083] Specifically, the buffer device 40 with the at least one buffer location is formed by a conveyor section on the second conveyor device 36 for transporting source containers 33a, 33b. This conveyor section comprises a conveyor 22b that can be controlled and driven by the control unit 31.

[0084] The conveyor 22b comprises a plurality of conveyor rollers, at least some of which are driven by a drive motor. The conveyor 22b of the aforementioned conveyor section is controlled and driven by the control unit 31 to transport a second target container 33b from the second delivery device 34b to the buffer location and to transport a second target container 33b away from the buffer location. The second target container 33b passes the first delivery device 34a and is transported away by the second conveyor device 36.

[0085] The first conveyor device 35 and the second conveyor device 36 have opposite conveying directions, as shown in the Fig. 3 and 4 indicated by the arrows. Preferably, the conveying means 22a of the first conveying device 35 are driven unidirectionally, and the conveying means 22b of the second conveying device 36 are driven unidirectionally.

[0086] The picking station 2 is connected to a target container conveyor system of the target container distribution system 4.

[0087] The target container distribution system 4 is used to transport finished target containers 33 between the picking station(s) 2 and a goods issue, as indicated by the arrow 41 in Fig. 1 indicated, or the transport of partially picked target containers 33 between a first picking station 2 and a second picking station 2. The target container distribution system 4 also serves to transport empty target containers 33 or partially picked target containers 33 to the picking station(s) 2. The target container distribution system 4 is preferably an automated target container distribution system. The transport of said target containers 33 can be automated.

[0088] The target container distribution system 4 comprises a target container conveyor system. The target container conveyor system can, for example, comprise a first conveyor device 42 for transporting empty target containers 33 and / or partially picked target containers 33 to the relevant picking station(s) 2 and a second conveyor device 43 for transporting partially picked target containers 33 or completed target containers 33 away from the relevant picking station(s) 2. According to the embodiment shown, the first conveyor device 42 and second conveyor device 43 each comprise a transfer device.

[0089] As in Fig. 3 As can be seen, the first conveyor device 35 of the picking station 2 and the first conveyor device 42 of the target container conveyor system are connected by conveyor technology. Furthermore, the second conveyor device 36 of the picking station 2 and the second conveyor device 43 of the target container conveyor system are connected by conveyor technology.

[0090] Optionally, the target container conveyor system with its first conveyor device 42 for transporting empty target containers 33 and / or partially picked target containers 33 to the relevant picking station(s) 2 can be connected to a sorting buffer 44 to be described in more detail (as shown by way of example in Fig. 1 entered in dashed lines), so that empty target containers 33 and / or partially picked target containers 33 are first transported to the sorting buffer 44 and then, if necessary, sorted to the relevant picking station(s) 2. The first conveyor device 42 can either be connected to the first conveyor device 45 of the sorting buffer, which will be described in more detail below, or to the second conveyor device 46 of the sorting buffer, which will be described in more detail below. The first conveyor device 42 can, in contrast to the illustration in Fig. 1 also connect to the fifth conveyor device 14 in order to transport empty target containers 33 and / or partially picked target containers 33. The empty target containers 33 and / or partially picked target containers 33 are transferred to a buffer location 47-4 and then transported to the first loading location 37a or second loading location 37b or to a sorting location 48-1.

[0091] The conveyor device 13 for transporting source containers 5 from the picking station 2 and the second conveyor device 36 for transporting loaded target containers 33 from the picking station 2 are connected to a conveyor 50 via a third conveyor device. The conveyor 50 is formed, for example, by a belt transfer device as described above. The conveyor 50 is controlled by the control unit 31 in order to transfer the loaded target containers 33 from the target container conveyor to the source container conveyor. According to the embodiment shown, for space-saving reasons, a single conveyor device 13 is used to transport loaded target containers 33 from the picking station 2 and to transport source containers 5 from the picking station 2. However, it would also be conceivable to use two separate conveyor devices.

[0092] Accordingly, the picking station(s) 2 is / are connected to the source container conveyor system in order to transport source containers 5 on a conveyor device 12 to the picking station(s) 2 and to transport source containers 5 away from the picking station(s) 2 on a conveyor device 13, and the picking station(s) 2 is / are connected to the target container conveyor system in order to transport empty / partially picked target containers 33 on a conveyor device 42 to the picking station(s) 2 and to transport partially picked / fully picked target containers 33 away from the picking station(s) 2 on a conveyor device 13, 30.

[0093] A particularly advantageous embodiment results when the second conveyor device 26 for transporting source containers 5a, 5b and the second conveyor device 36 for transporting target containers 33a, 33b are arranged in parallel. The first delivery device 24a with the first removal location 27a and the first delivery device 34a with the first loading location 37a are arranged opposite one another. In particular, the first delivery device 34a with the first loading location 37a is arranged essentially mirrored with respect to an axis of symmetry relative to the first delivery device 24a with the first removal location 27a. The axis of symmetry runs parallel to the conveying direction of the second conveyor devices 26, 36.

[0094] The first delivery device 24b with the second removal station 27b and the second delivery device 34b with the second loading station 27b are arranged opposite one another. In particular, the second delivery device 34b with the second loading station 37b is arranged essentially mirrored with respect to an axis of symmetry relative to the first delivery device 24b with the first removal station 27b. The axis of symmetry runs parallel to the conveying direction of the second conveying devices 26, 36.

[0095] It is also particularly advantageous that the second conveying device 26 for transporting away source containers 5a, 5b and the second conveying device 36 for transporting away target containers 33a, 33b are arranged at a distance 51 of a maximum of 400 mm.

[0096] As in Fig. 2 As can be seen, the first delivery device 24a with the first removal location 27a and the first delivery device 34a with the first loading location 37a each form a (horizontal) delivery plane 52a, 53a at the same height. Likewise, the second delivery device 24b with the second removal location 27b and the second delivery device 34b with the second loading location 37b each form a (horizontal) delivery plane 52b, 53b at the same height. The delivery planes 52a, 53a and delivery planes 52b, 53b are preferably located at the same height.

[0097] As in the Fig. 1 and 3As can be seen, the picking station 2 is connected to the sorting buffer 44, which is designed to provide the target containers 33 sorted in a sequence at the first loading station 37a and the second loading station 37b. The sequence of the target containers 33 is determined depending on the sequence in which the source containers 5 are provided at the first removal station 27a and the second removal station 27b. The sequence of the source containers 5 is recorded by the control unit 31, using known tracking systems that can determine the location of each source container 5 along the transport path, or by suitable sensors along the transport path.

[0098] The sorting buffer 44 is an automated sorting buffer. The transport of the target containers 33 in the sorting buffer 44 (particularly between the buffer and sorting stations 47, 48) and the sorting of the target containers 33 by the sorting buffer 44 are automated.

[0099] The sorting buffer 44 comprises buffer positions 47 arranged one behind the other on a first conveyor 45 in a discharge direction (arrow from left to right), and sorting positions 48 arranged one behind the other on a second conveyor 46 in a return direction (arrow from right to left), and third conveyors 54 connecting the buffer positions 47 to the sorting positions 48. According to a preferred embodiment, the first conveyor 45 and second conveyor 46 are arranged in parallel, while the third conveyors 54 are arranged perpendicular to the first conveyor 45 / second conveyor 46. The discharge direction of the requested target containers 33 on the first conveyor 45 and the return direction of the returned target containers 33 on the second conveyor 46 run in opposite directions.

[0100] The first conveying device 45 and the second conveying device 46 are connected to the first conveying device 35 and the second conveying device 36 in order to convey the target containers 33 from the sorting buffer 44 to the first loading station 34a or second loading station 34b for processing different order lines for at least one order and to convey them from the first loading station 34a or second loading station 34b to the sorting buffer 44.

[0101] The first conveyor device 45 and second conveyor device 46 each have conveyor means 55, 56. The target containers 33 are transported in the discharge direction and sorted to the first loading station 34a or second loading station 34b for processing orders on the first conveyor device 45 by means of the conveyor means 55. The conveyor means 55 forms a horizontal conveying plane. On the other hand, target containers 33, after orders have been processed and which still require goods for orders, can be transported on the second conveyor device 46 by means of the conveyor means 56 in the return direction from the first loading station 34a or second loading station 34b to the sorting stations 48. The conveyor means 56 forms a horizontal conveying plane.

[0102] The conveyor means 55, 56 each have, for example, rotatably mounted conveyor rollers on a frame and each form a roller conveyor. At least one conveyor means 55 for transporting the target containers 33 in the discharge direction is assigned to the buffer positions 47, and at least one conveyor means 56 for transporting the target containers 33 in the return direction is assigned to the sorting positions 48. The conveyor means 55 is driven and coupled to a first drive motor. The conveyor means 56 is driven and coupled to a second drive motor. According to the exemplary embodiment shown, each buffer position 47 comprises a conveyor means 55 with a plurality of conveyor rollers, of which at least one conveyor roller is driven and coupled to a drive motor. In addition, each sorting position 48 comprises a conveyor means 56 with a plurality of conveyor rollers, of which at least one conveyor roller is driven and coupled to a drive motor.

[0103] The drive motors are connected to the control unit 31, and the conveyor means 55, 56 can be controlled separately by the control unit 31.

[0104] The third conveyor devices 54 connect the opposing buffer locations 47 and sorting locations 48 in order to deliver the target containers 33 from the sorting locations 48 to the buffer locations 47 by the control unit 31 in a time-controlled manner such that the target containers 33b leave the sorting buffer 44 already in a sorted sequence and are fed successively in this sorted sequence to the first loading location 34a and the second loading location 34b. The third conveyor devices 54 each have conveyor means 57, 58. The target containers 33 are transported from the sorting locations 48 to the buffer locations 47 for processing orders on the third conveyor device 54 by means of the conveyor means 57, 58. The conveyor means 57, 58 form a horizontal conveying plane. The conveyor means 57, 58 of each third conveyor device 54 is driven and coupled to a third drive motor.

[0105] As can be seen from the Fig. 1 and 3As can be seen, some of the buffer locations 47 and sorting locations 48 can each be assigned a common conveyor 57. Otherwise, some of the buffer locations 47 and sorting locations 48 can be assigned a conveyor 58 for each buffer location 47 and a conveyor 58 for each sorting location 48.

[0106] The conveying means 57, 58 are each formed, for example, by a belt transfer mechanism, as described above. The conveyor belts can be adjusted via the lifting mechanism between a raised conveying position, in which a target container 33 is lifted from a sorting station 48 and conveyed via the conveyor belts to a buffer station 47, and a lowered rest position, in which the conveyor belts are lowered below the conveying level of the conveying means 55, 56 and a target container 33 is transported by the conveyor means 56 from a first sorting station to a second sorting station, or a target container 33 is transported by the conveyor means 55 from a first buffer station to a second buffer station.

[0107] The conveyor 58 at the sorting location 48-4 and the conveyor 58 at the buffer location 47-1 can be operated bidirectionally.

[0108] The conveyor means 55, 56, 57, 58 are controlled by the control unit 31 in such a way that the target containers 33 in the sorting buffer 44 are sorted in an order which is determined depending on the order in which the source containers 5 are provided at the first removal location 27a and second removal location 27b, and that a source container 5a, 5b and a target container 33a, 33b for an order arrive at the first / second removal location 27a, 27b and first / second loading location 37a, 37b at approximately the same time.

[0109] The drive motors / actuators are connected to the control unit 31, and the conveyors 57, 58 can be controlled separately by the control unit 31.

[0110] As in Fig. 2 As shown, the picking station 2 comprises a fully automated robot system. The robot system comprises a robot 60 with a gripping unit 61 that is movable relative to a robot base, by means of which goods A are removed from the first source container 5a for a first order and placed in the first target container 33a, and goods B are removed from the second source container 5b for a second order and placed in the second target container 33b. It would also be conceivable that goods A, B are required for different orders and the first target container 33a and second target container 33b are already provided. On the one hand, by means of the gripping unit 61, goods A can first be removed from the first source container 5a and placed in the first target container 33a, and then goods A can again be removed from the first source container 5a and placed in the second target container 33b.On the other hand, by means of the gripping unit 61, a product B can first be removed from the second source container 5b and placed in the first target container 33a and then a product B can again be removed from the second source container 5b and placed in the second target container 33b.

[0111] A workspace of the robot 60 is designed such that the gripping unit 61 can access the first source container 5a, the second source container 5b, the first target container 33a, and the second target container 33b. The gripping unit 61 preferably comprises at least two vacuum suction grippers, each of which can be controlled separately. In principle, the gripping unit 61 can also comprise only one vacuum suction gripper.

[0112] Robot 60 is an articulated-arm robot in the illustrated embodiment. However, a gantry robot is also possible.

[0113] The robot system also comprises a sensor system 62a, 62b for detecting at least the goods A, B in the first source container 5a and the second source container 5b. On the one hand, before removing a product A from the first source container 5a, the sensor system 62a detects a gripping surface pose of a gripping surface 63 for at least one of the goods A in the first source container 5a. On the other hand, before removing a product B from the second source container 5b, the sensor system 62b detects a gripping surface pose of a gripping surface 63 for at least one of the goods B in the second source container 5b. The sensor system 62a, 62b is connected to a robot controller 64. According to the embodiment shown, the sensor system 62a, 62b comprises an image recognition device.

[0114] The sensor system 62a, 62b or the image recognition device comprises cameras arranged above the source containers 5a, 5b and each configured as a stereo camera. Accordingly, the cameras capture a three-dimensional image of at least the source containers 5a, 5b and the goods A, B stored therein.

[0115] The robot controller 64 calculates a gripping pose for the gripping unit 61 from the determined gripping surface pose and controls the robot 61 and / or the gripping unit 61 according to the gripping pose in order to remove a product from the first / second source container 5a, 5b.

[0116] It is also advantageous if a gripping surface pose and a gripping surface size of a gripping surface 63 of a product A, B are determined with the aid of a sensor system 62a, 62b. From the determined gripping surface pose and gripping surface size, a gripping pose for the gripping unit 61 can be calculated in which a maximum number of suction grippers are in contact with the gripping surface 63 of the aforementioned product A. The gripping unit 61 is moved into the calculated gripping pose, and the suction grippers in contact with the gripping surface 63 of the aforementioned product A or coming into contact are activated to pick up the product A.

[0117] As in Fig. 2 entered, the sensor system 65a, 65b can also detect an available receiving volume in the first target container 33a and the second target container 33b. The receiving volume decreases with an increasing number of goods A, B deposited in the first target container 33a / second target container 33b. On the one hand, before the goods A, B are deposited in the first target container 33a, the sensor system 65a detects an available receiving volume, and the robot controller 64 calculates a deposit pose for the gripping unit 61. The gripping unit 61 is moved into the calculated deposit pose, and the goods A, B are deposited in the first target container 33a / second target container 33b. On the other hand, before the goods A, B are deposited in the second target container 33b, the sensor system 65b detects an available receiving volume, and the robot controller 64 calculates a deposit pose for the gripping unit 61. The sensor system 65a, 65b is connected to a robot controller 64.According to the embodiment shown, the sensor system 65a, 65b comprises an image recognition device.

[0118] It should be noted at this point that the term "placing a product into a target container" within the meaning of the invention is not to be understood in a restrictive manner, meaning that the product is only deposited in the target container, but that the product can also be dropped into the target container. This "dropping" is particularly suitable for soft goods, as these cannot be damaged and the gripping unit 61 can make shorter movements. In this case, the depositing pose can also be referred to as a dropping pose.

[0119] The sensor system 65a, 65b or the image recognition device comprises cameras arranged above the target containers 33a, 33b and each configured as a stereo camera. Accordingly, the cameras capture a three-dimensional image of at least the target containers 33a, 33b and the available recording volume.

[0120] A "pose" is generally the combination of position and orientation in space. Accordingly, a "gripping surface pose" is the combination of the position and orientation of the gripping surface of a product, and the "gripping pose" and "depositing pose" are the combination of the position and orientation of the gripping unit 61.

[0121] In general, a "gripping surface" of a product, which serves to grip the said product with the gripping unit 61, can have any shape and can be, for example, polygonal (in particular rectangular), circular or elliptical, or can also be formed by a free-form surface.

[0122] It should also be noted that the goods in the source containers 5 can be arranged next to each other, one above the other, standing up or lying down, and therefore in a disordered (chaotic) or jumbled manner.

[0123] As in the Fig. 1 and 2As can be seen, a storage plate 66a is arranged above the second conveyor device 26 for transporting source containers 5a, 5b and the second conveyor device 36 for transporting target containers 33a, 33b. The storage plate 66a is arranged between the first supply device 24a with the first removal location 27a and the first supply device 34a with the first loading location 37a and comprises a first access opening 67a (vertical) above the first removal location 27a and a second access opening 67b (vertical) above the first loading location 37a. Likewise, a storage plate 66b is arranged above the second conveyor device 26 for transporting source containers 5a, 5b and the second conveyor device 36 for transporting target containers 33a, 33b.The storage plate 66b is arranged between the second supply device 24b with the second removal location 27b and the second supply device 34b with the second loading location 37b and comprises a first access opening 67a (vertical) above the second removal location 27b and a second access opening 67b (vertical) above the second loading location 37b.

[0124] The storage plate 66a and the storage plate 66b essentially cover the distance 51 between the second conveyor device 26 and the second conveyor device 36 in the area of ​​the first / second removal location 27a, 27b and the first / second loading location 37a, 37b.

[0125] Even if the robot system operates very reliably, it cannot be ruled out that a product A, B picked up by the gripping unit 61 may be accidentally lost during the movement between the first / second removal station 27a, 27b and the first / second loading station 37a, 37b. The product A (accidentally) dropped from the gripping unit (as in Fig. 2 shown as an example in dashed lines) does not fall onto the floor or onto the second conveyor devices 26, 36, but comes to rest on the storage plate 66a / storage plate 66b.

[0126] It may also prove advantageous if a storage plate 66c is additionally arranged above the second conveyor device 26 for transporting source containers 5a, 5b, between the first supply device 24a with the first removal location 27a and the second supply device 24b with the second removal location 27b. This storage plate 66c extends parallel to the conveying direction of the second conveyor device 26 for transporting source containers 5a, 5b and adjoins the storage plates 66a, 66b. Likewise, a storage plate 66d is arranged above the second conveyor device 36 for transporting target containers 33a, 33b, between the first supply device 34a with the first loading location 37a and the second supply device 34b with the second loading location 37b. This storage plate 66d extends parallel to the conveying direction of the second conveying device 36 for transporting target containers 33a, 33b and adjoins the storage plates 66a, 66b.The support plate 66c or support plate 66d can simultaneously serve as an assembly portal for the robot 60.

[0127] As described above, a product A can be removed from the first source container 5a and placed in the second destination container 33b, or a product B can be removed from the second source container 5b and placed in the first destination container 33a. In this case, a product A, B picked up by the gripping unit 61 can be lost during a diagonal movement between the first / second removal location 27a, 27b and the first / second loading location 37a, 37b. The product A, B that has (accidentally) fallen from the gripping unit does not fall to the floor or onto the second conveyor devices 26, 36, but rather comes to rest on the storage plate 66c / storage plate 66d.

[0128] As in the Fig. 1 and 2 As can be seen, the storage plates 66a..66d are formed by a single storage plate.

[0129] To enable automated error correction, the sensor system can now also be configured to detect a product A, B that has fallen from the gripping unit 61 after removal from the first / second source container 5a, 5b and before being deposited in the first / second target container 33a, 33b (or during the movement of the gripping unit 61 between the first / second removal location 27a, 27b and the first / second loading location 37a, 37b) and is lying on the storage plate 66a..66d. The robot controller 64 can control the robot 60 and / or the gripping unit 61 such that it picks up the aforementioned product A, B and returns it to the first source container 5a or second source container 5b, or deposits it in the intended first target container 33a or second target container 33b. In the example shown, product A is to be placed in the first target container 33a.

[0130] The detection of goods A, B on the storage plate 66a..66d can be performed by the already present sensor system 62a, 62b and / or sensor system 65a, 65b. Alternatively or additionally, a sensor system 68 (as shown in dashed lines) can be provided above the storage plate 66a..66d, by means of which (accidentally) dropped goods A, B on the storage plate 66a..66d can be detected. The sensor system 68 is connected to a robot controller 64. According to the embodiment shown, the sensor system 68 comprises an image recognition device.

[0131] The sensor system 68 or the image recognition device comprises one or more cameras arranged above the storage plate 66a..66d and each configured as a stereo camera. Accordingly, the camera(s) capture(s) a three-dimensional image of at least the goods A, B on the storage plate 66a..66d.

[0132] With the help of the sensor system 62a, 62b; 65a, 65b; 68, a gripping surface pose of a gripping surface 63 of the dropped goods A, B is determined. From the determined gripping surface pose, a gripping pose for the gripping unit 61 can be calculated in order to pick up the said goods A, B on the gripping unit 61. The gripping unit 61 is moved into the calculated gripping pose, and the suction grippers that are in contact or will come into contact with the gripping surface 63 of the said goods A are activated in order to pick up the said goods A, B.

[0133] It should also be noted that the sensor system may not only comprise cameras, but may alternatively or additionally also include a spatial depth sensor, a laser scanner, and / or an ultrasonic sensor. These sensors can, in particular, capture a three-dimensional image of the goods A, B.

[0134] In the jointly described Fig. 5a bis 5m describes a method for picking goods at a picking station 2 at which orders are processed. For the sake of clarity, the robot system and the conveyors 22a, 22b, 55, 56 of the source container conveyor system and target container conveyor system are not shown. The robot 60 and gripping unit 61 are also not shown. An order can also be processed in partial orders at a single picking station 2. Otherwise, the orders or partial orders of the orders can also be processed at several picking stations 2. In this case, a target container 33 is first fed to a first picking station 2 and at least one item of goods is picked. The target container 33 is then fed to a second picking station 2 and at least one item of goods is picked.In other words, the order cannot be completely processed at a single picking station 2 and the target container 33 is transported via the fifth conveyor device 14 (. Fig. 1 ) to the second picking station 2.

[0135] For simplicity, we will refer to "orders" below. An order can also be understood as a picking order. A customer order comprises at least one order. The orders are stored as data records. The orders are electronically recorded on a computer (not shown) and transmitted to the control units 31, 64. Each order comprises one or more order lines. If the order specifies multiple order lines, different goods are required. Each order line contains at least information about the quantity of an ordered item and the type of goods.

[0136] In the illustrated embodiment according to the Fig. 5a bis 5m A first order comprises a first order line, for example 2 pieces of product A, and a second order line, for example 1 piece of product H. A second order comprises a single order line, for example 1 piece of product B. A third order comprises a first order line, for example 1 piece of product N (which is already in the target container 33d), and a second order line, for example 2 pieces of product D and a third order line, for example 4 pieces of product O. A fourth order comprises a first order line, for example 2 pieces of product C, and a second order line, for example 3 pieces of product P. A fifth order comprises a first order line, for example 1 piece of product F. A sixth order comprises a first order line, for example 1 piece of product E and a second order line, for example 3 pieces of product Q.

[0137] For the initial processing of (new) orders, empty target containers 33a, 33b, 33c, and 33e are fed via the conveyor device 42. The empty target containers 33a, 33b, 33c, and 33e are identified, and an empty target container 33a, 33b, 33c, and 33e is linked to a recorded order using data technology.

[0138] The transport of the identified and empty target containers 33a, 33b, 33c and 33e to the first loading station 34a and second loading station 34b is carried out by conveyor device 42 and in the picking station 2 by the first conveyor device 35 and the transfer devices 38, 39. For example, the first target container 33a is provided at the first loading station 34a for processing the first order line for a first order and the second target container 33b is provided at the second loading station 34b for processing the order line for a second order.

[0139] In the sorting buffer 44, target containers 33 are temporarily buffered that require goods for more than one order line and already contain a first order line, for example, target containers 33d, 33f. Therefore, at least one item of goods has already been deposited in each of the target containers 33. However, some target containers 33 (not shown) may also be empty and are fed via the conveyor system 42 connected to the sorting buffer 44.

[0140] The source containers 5a..5h are retrieved from storage area 1 in a random (chaotic) sequence and conveyed to the first removal location 24a and the second removal location 24b in a random (chaotic) sequence. Preferably, the source containers 5a..5h each store a single product type. These are referred to as "pure product type" source containers 5a..5h. In the illustrated embodiment, the first source container 5a contains product A, the second source container 5b contains product B, the third source container 5c contains product C, etc.

[0141] Typically, a number of orders must be processed at picking station 2, some of which contain more than one order line. This means that the target containers 33 assigned to these orders (e.g., target containers 33a, 33c, 33d) must be provided multiple times at the first and second loading locations 37a, 37b and in an order determined by the order in which the source containers 5a..5h are provided at the first and second removal locations 24a, 24b. This is illustrated, for example, by the target container 33a, which contains two items of product A for a first order line and one item of product H for a second order line.

[0142] As in the Fig. 5f-5g As can be seen, a previously processed target container 33a is transported via the second conveyor device 36 from the first loading station 37a back to the sorting buffer 44 and to a sorting station 48-3 determined by the control unit 31, since a second order line still needs to be processed. The source container 5a is transported away from the first removal station 24a on the source container conveyor system and returned to storage area 1. Likewise, a previously processed target container 33c can be transported via the second conveyor device 36 from the second loading station 37b back to the sorting buffer 44 and to a sorting station 48-1 to 48-4 determined by the control unit 31, since a second order line still needs to be processed. The source container 5c is transported away from the second removal station 24b on the source container conveyor system and returned to storage area 1.

[0143] As in Fig. 5h As can be seen, the target container 33a can be transported from the sorting location 48-3 to one of the buffer locations 47-2 determined by the control unit 31 immediately after it has been transported to the sorting buffer 44, after the source container 5h with the goods H for the second order line has already been transported to the picking station 2. The transport of the target container 33a from one of the sorting stations 48-3 to one of the buffer stations 47-2 takes place by means of the conveyor 57 of one of the third conveyor devices 54. The transport of the target container 33a along the sorting stations 48-4 and 48-3 takes place by means of the conveyor 56 of the second conveyor device 46. The transport of the target container 33a along the buffer stations 47-2 and 47-1 takes place by means of the conveyor 55 of the first conveyor device 45. Accordingly, the target containers 33 in the sorting buffer 44 can be transported in parallel along the sorting stations 48-4 to 48-1 and along the buffer stations 47-1 to 47-4.It is also possible for a target container 33 previously transported to one of the sorting stations 48-4 to 48-1 to be moved past a target container 33 subsequently transported to one of the sorting stations 48-4 to 48-1.

[0144] Thus, a sorting process is carried out from the sorting buffer 44 via the buffer locations 47-1 to 47-4 and / or sorting locations 48-4 to 48-1.

[0145] In contrast, a previously processed target container 33b is transported via the second conveyor device 36 from one of the first and second loading stations 34a, 34b, for example the second loading station 37a and the conveyor device 43 to the conveyor device 13 for transporting target containers 33 away from the picking station 2, as shown in the Fig. 5f-5j Preferably, the source containers 5 are also transported away from the picking station 2 by the conveyor device 13.

[0146] A possible sorting function of the sorting buffer 44 can therefore be described as follows: a first target container 33 is transported back to the sorting buffer 44 for processing different order lines for at least one order after a product has been deposited for a first order line and is temporarily buffered at a first sorting station 48 at least until a source container 5 with a product for a second order line is conveyed to a conveyor device 12 provided upstream of the picking station 2 (in particular the first removal station 24a and second removal station 24b) for transporting source containers 5 to the picking station 2, and said first target container 33 can be moved from the first sorting station 48 to one of the buffer stations 47 and then to one of the first and second loading stations 34a, 34b after the source container 5 with a product for a second order line has been transported to the conveyor device 12 for transporting source containers 5 to the picking station 2,and a second target container 33 for processing different order lines for at least one order is transported back to the sorting buffer 36 after the deposit of a product to a first order line and is moved via a second sorting station 48 to one of the buffer stations 47 and then to the first and second loading stations 34a, 34b, provided that a source container 5 with a product for a second order line has already been transported into a conveyor device 12 provided upstream of the picking station 2 (in particular the first removal station 24a and second removal station 24b) for transporting source containers 5 to the picking station 2.

[0147] As soon as the source containers 5 are located on the conveyor device 12 and are transported by it, the previously recorded (chaotic) sequence is no longer changed.

[0148] The following describes a first embodiment of a method for the fully automated picking of various goods A..H from source containers 5a..5h into target containers 33a..33g by a robot 60 with a gripping unit 61 according to orders. This method for fully automated picking is particularly well suited for use at the picking station 2 described above.

[0149] The procedure includes at least the following steps: a) Recording of orders, each with one or more order lines, where each order line specifies at least one product according to its product type and the number of pieces ordered, b) Transport of a first source container 5a for a first picking order and transport of a second source container 5c for a second picking order on a first conveyor device 25 and transport of the first source container 5a from the first conveyor device 25 to a first delivery device 24a with a first removal location 27a and transport of the second source container 5c from the first conveyor device 25 to a second delivery device 24b with a second removal location 27b (see Fig. 5a-5f ), c) Provision of the first source container 5a at the first withdrawal point 27a (see Fig. 5b ) and provision of the second source container 5c at the second withdrawal point 27b (see Fig. 5f ), d) transporting a first target container 33a to a first delivery device 34a having a first loading location 37a and providing a first target container 33a on the first loading location 37a in order to process an order line for a first order (see Fig. 5a-5b ), e) transporting a second target container 33b to a second delivery device 34b having a second loading location 37b and providing a second target container 33b on the second loading location 37b in order to process an order line for a second order (see Fig. 5b-5g ), f) Determination of a gripping surface pose of a gripping surface 63 ( Fig. 2 ) for at least one of the goods A in the first source container 5a with the aid of a sensor system 62a, in particular an image recognition device with a camera system, after the first source container 5a has been provided at the first removal location 24a, and calculation of a gripping pose for the gripping unit 64 from the determined gripping surface pose by the robot controller 64 (see Fig. 5b - Hatching of the first source container 5a symbolizes the previous determination of a gripping surface pose), g) Removal of the mentioned product A from the first source container 5a and depositing of the mentioned product A into the first target container 33a by the gripping unit 61 of the robot 60 according to the first order (see Fig. 5c - Arrow symbolises the first removal and depositing of a first product A), h) Repetition of step f) if the order line for the first order again contains a product A of this product type, renewed removal of the said product A from the first source container 5a and depositing of the said product A into the first target container 33a by the gripping unit 61 of the robot 60 (see Fig. 5c - Hatching of the first source container 5a symbolizes the repeated determination of a grasping surface pose and see Fig. 5d - Arrow symbolizes the second removal and the repeated depositing of a first product A), i) Determination of a gripping surface pose of a gripping surface 63 for at least one of the products C in the second source container 5c with the aid of a sensor system 62b, in particular an image recognition device with a camera system, after the second source container 5c has been provided at the second removal location 24b, and calculation of a gripping pose for the gripping unit 64 from the determined gripping surface pose by the robot controller 64 (see Fig. 5g - Hatching of the second source container 5c symbolises the previous determination of a gripping surface pose), j) Removal of the said goods from the second source container 5c and depositing of the said goods into the second target container 33c by the gripping unit 61 of the robot 60 according to the second order (see Fig. 5h - Arrow symbolises the first removal and depositing of a first product C), k) Repetition of step i) if the order line for the second order again contains a product C of this product type, renewed removal of the said product C from the second source container 5c and depositing of the said product C into the second target container 33c by the gripping unit 61 of the robot 60 (see Fig. 5h - Hatching of the second source container 5b symbolizes the repeated determination of a grasping surface pose and see Fig. 5i - Arrow symbolizes the second removal and the repeated depositing of a second item of goods C), l) Removal of the first source container 5a after processing the order line for the first order from the first removal location 24a and removal of the second source container 5c after processing the order line for the second order from the second removal location 24b independently of one another by a second conveyor device 26, m) Removal of the first target container 33a after processing the order line for the first order from the first loading location 34a and removal of the second target container 33c after processing the order line for the second order from the second loading location 34b independently of one another by a second conveyor device 36.

[0150] In step c), the first source container 5a is provided at the first removal location 27a and the second source container 5c is provided at the second removal location 27b, which can essentially be carried out in parallel or staggered manner.

[0151] The transport of the first and second target containers 33a, 33c in steps d) and e) can be carried out in parallel or staggered times. Likewise, the transport of the first and second target containers 33a, 33c in steps d) and e) and the transport of the first and second source containers 5a, 5c in step b) can be carried out in parallel or staggered times. However, it is expedient that the transport of the first and second source containers 5a, 5c to the first and second removal locations 24a, 24b and the transport of the target containers 33a, 33c to the first and second loading locations 34a, 34b are coordinated such that a source container 5a, 5c and a target container 33a, 33c for an order arrive at the removal location 24a, 24b and loading location 34a, 34b at approximately the same time.

[0152] In step h), a gripping surface pose is repeatedly determined if a product A of this product type is required again for the first order. Therefore, the first order comprises an order line with, for example, at least 2 items of product A. Step h) is therefore carried out before each new removal of a product A from the first source container 5a. After the first removal of the said product A from the first source container 5a and as soon as the robot 60 and / or the gripping unit 61 have moved out of the detection range of the sensor system 62a, the sensor system 62a can repeatedly detect the products A in the first source container 5a and repeatedly determine a gripping surface pose. If the sensor system 62a is a camera system (of an image recognition device), the repeated detection of the products A in the first source container 5a can take place when the robot 60 and / or the gripping unit 61 have been moved out of the image detection range.

[0153] In step k), a gripping surface pose is repeatedly determined if a product C of this product type is required again for the second order. Therefore, the second order comprises an order line, for example, with at least 2 items of product C. Step k) is therefore carried out before each new removal of a product C from the second source container 5c. After the first removal of the said product C from the second source container 5c and as soon as the robot 60 and / or the gripping unit 61 have moved out of the detection range of the sensor system 62b, the sensor system 62b can repeatedly detect the goods C in the second source container 5c and repeatedly determine a gripping surface pose. If the sensor system 62b is a camera system (of an image recognition device), the repeated detection of the goods C in the second source container 5c can take place when the robot 60 and / or the gripping unit 61 has been moved out of the image detection range.

[0154] Accordingly, step f) can be carried out during the processing of the order line (for example with at least 2 pieces of product A) for the first order in accordance with steps g) and h) and step i) can be carried out during the processing of the order line (for example with at least 2 pieces of product C) for the second order in accordance with steps j) and k).

[0155] It should also be noted that step h) and / or step k) is only carried out if the order requires an order line with at least 2 goods A, C. If the order requires more than 2 goods for an order line, step h) and / or step k) is repeated. However, if the order includes an order line with a single product, for example, product B (see Fig. 5d , 5e), step h) and / or step k) can be omitted. In concrete terms, this means in the example shown that only step f) and / or step i) is carried out, namely determining a gripping surface pose of a gripping surface 63 for at least one of the goods B in the second source container 5b with the aid of a sensor system 62b, in particular an image recognition device with a camera system, as soon as the second source container 5b has been provided at the second removal location 24b (see Fig. 5d - Hatching of the second source container 5b symbolizes the one-time determination of a gripping surface pose),

[0156] In step m), the first target container 33a is transported away from the first loading station 34a after the order line for the first order has been processed, and the second target container 33c is transported away from the second loading station 34b after the order line for the second order has been processed, independently of one another by a second conveyor device 36. If no further order line for the first order / second order is to be processed in this picking station 2, the first target container 33a / second target container 33c can be transported away from the picking station 2 by the target container conveyor system (conveyor devices 13, 43) (see, for example, target container 33b).If, however, a further order line for the first order / second order is to be processed in this picking station 2, the first target container 33a / second target container 33c is transported to the sorting buffer 44 described above in order to be subsequently fed again to the first loading station 34a / second loading station 34b (see, for example, target container 33a).

[0157] In step i), the first source container 5a is removed from the first removal location 27a and the second source container 5c is removed from the second removal location 27b, which can essentially be carried out in parallel or offset in time.

[0158] In step m), the first target container 33a is transported away from the first loading station 37a and the second target container 33c is transported away from the second loading station 37b, which can take place at different times.

[0159] The removal of the first source container 5 (for example source container 5a) after processing the order line for the first order from the first removal station 24a and the removal of the first target container 33 (for example target container 33a) after processing the order line for the first order from the first loading station 34a can be carried out at different times or synchronously (simultaneously), as in the Fig. 5a-5m The removal of the second source container 5 (for example source container 5c) after processing the order line for the second order from the second removal station 24b and the removal of the second target container 33 (for example target container 33c) after processing the order line for the second order from the second loading station 34b can be carried out at different times or synchronously (simultaneously), as shown in the Fig. 5a-5m shown.

[0160] According to one embodiment, it is provided that the first order with steps f) to h) and the second order with steps i) to k) are processed sequentially by the robot 60 / the gripping unit 61.

[0161] It proves advantageous if step i) is carried out after the (complete) processing of the order line for the first order and during the movement of the robot 60 / the gripping unit 61 from the first target container 33a to the second source container 5c. The robot controller 64 receives the gripping surface pose of a gripping surface 63 for at least one of the goods C in the second source container 5c from the sensor system 62b, preferably shortly before the robot 60 / the gripping unit 61 has reached the second source container 5c. Step f) is carried out after the (complete) processing of the order line for the second order during the movement of the robot 60 / the gripping unit 61 from the second target container 33c to the first source container 5a.The robot controller 64 receives from the sensor system 62a, preferably shortly before the robot 60 / the gripping unit 61 has reached the first source container 5a, the gripping surface pose of a gripping surface 63 for at least one of the goods A in the first source container 5a.

[0162] As from Fig. 4 As can be clearly seen, the first delivery device 24a and the second delivery device 24b are arranged at a distance from each other in the conveying direction of the second conveying device 26. This distance can be defined by the buffer device 32 and is at least equal to the container dimension (length of the container parallel to the conveying direction). However, this distance can also correspond to a multiple of the container dimension.

[0163] Likewise, the first supply device 34a and second supply device 34b are arranged at a distance from each other in the conveying direction of the second conveying device 36.

[0164] The apparent performance disadvantage resulting from the sequence of steps f) to h) and steps i) to k) for processing different orders is compensated for by the higher picking performance achieved by the short robot movements / gripping unit movements between the first source container 5 and the first target container 33 or the second source container 5 and the second target container 33. The short robot movements / gripping unit movements result from the compact design of the picking station 2, in particular from the short distance 51 between the second conveyor devices 26, 36. This also has the advantage that the control sequences can be designed more simply.

[0165] In a special application, different order lines for a first order can be processed in such a way that the first target container 33a is first loaded with a product A from the first source container 5a and then with a product C from the second source container 5c, without an intermediate removal of the first target container 33a from the first loading location 37a and a renewed transport to the first loading location 37a.

[0166] Likewise, different order lines for a second order can be processed in such a way that the second target container 33c is first loaded with a product C from the second source container 5c and then with a product A from the first source container 5a, without the first target container 33a being temporarily removed from the second loading location 37b and then transported to the second loading location 37b. In this case, the sorting buffer 44 described above would not be absolutely necessary or could even be omitted. A "diagonal movement" of the robot 60 / gripping unit 61 takes place between the first / second removal location 27a, 27b and the first / second loading location 37a, 37b.

[0167] It is advantageous if step i) is carried out after removal of a product A for one order line for the second order during the movement of the robot 60 / the gripping unit 61 from the first source container 5a to the second target container 33c. Step f) is carried out after removal of a product C for one order line for the second order during the movement of the robot 60 / the gripping unit 61 from the second source container 5c to the first target container 33a.

[0168] It is advantageous if step i) is carried out after processing an order line for the first order and after removing a product A for an order line for the second order during the movement of the robot 60 / the gripping unit 61 from the first target container 33a to the second source container 5c. Step f) is carried out after processing the order line for the second order during the movement of the robot 60 / the gripping unit 61 from the second target container 33c to the first source container 5a.

[0169] Finally, it should also be noted that the sorting buffer 44 is not absolutely necessary. In this case, the source containers 5 and target containers 33 are fed to the first / second removal locations 27a, 27b and the first / second loading locations 37a, 37b by the source container distribution system and the target container distribution system in a coordinated manner such that they are made available for the respective orders and approximately simultaneously at the first / second removal locations 27a, 27b and the first / second loading locations 37a, 37b. The sorting buffer 44 can also be implemented using a different configuration.

[0170] The following describes a second embodiment of a method for the fully automated picking of various goods A..H from source containers 5a..5h into target containers 33a..33g by a robot 60 with a gripping unit 61 according to orders. To avoid unnecessary repetition, reference is made to the above disclosure of the method. In contrast, method step m) is optional.

[0171] The procedure includes at least the following steps: a) Recording of orders with one or more order lines, each order line specifying at least one product A, C according to its product type and the number of pieces ordered, b) Transport of a first source container 5a for processing an order line for a first order to a first supply device 24a with a first removal location 27a and transport of a second source container 5c for processing an order line for a second order to a second supply device 24b with a second removal location 27b with an automatically operated source container conveyor system, the source containers 5a, 5c storing different products A, C (see Fig. 5a-5f ), c) provision of the first source container 5a at the first withdrawal location 27a and provision of the second source container 5c at the second withdrawal location 27b (see Fig. 5f ), d) transporting a first target container 33a to a first delivery device 34a having a first loading station 37a with an automated target container conveyor system and providing a first target container 33a on the first loading station 37a in order to process an order line for the first order (see Fig. 5a-5b ), e) transporting a second target container 33c to a second delivery device 34b having a second loading station 37b with an automated target container conveyor system and providing a second target container 33c on the second loading station 37b in order to process an order line for a second order (see Fig. 5b-5g ), f) Determination of a gripping surface pose of a gripping surface 63 for at least one of the goods A in the first source container 5a with the aid of a sensor system 62a, after the first source container 5a has been provided at the first removal location 27a, and calculation of a gripping pose for the gripping unit 61 from the determined gripping surface pose by a robot controller 64 (see Fig. 5b - Hatching of the first source container 5a symbolizes the previous determination of a gripping surface pose), g) Removal of the mentioned goods A from the first source container 5a and depositing of the mentioned goods A into the first target container 33a by the gripping unit 61 of the robot 60 to an order line of the first order (see Fig. 5c - Arrow symbolises the first removal and depositing of a first product A), h) Repetition of step f) if the order line for the first order again contains a product A of this product type, renewed removal of the said product A from the first source container 5a and depositing of the said product A into the first target container 33a by the gripping unit 61 of the robot 60 (see Fig. 5c - Hatching of the first source container 5a symbolizes the repeated determination of a grasping surface pose and see Fig. 5d - Arrow symbolizes the second removal and the repeated depositing of a first product A), i) Determination of a gripping surface pose of a gripping surface 63 for at least one of the products C in the second source container 5c with the aid of a sensor system 62b, after the second source container 5c has been provided at the second removal location 34b, and calculation of a gripping pose for the gripping unit 61 from the determined gripping surface pose by a robot controller 64 (see Fig. 5g - Hatching of the second source container 5c symbolizes the previous determination of a gripping surface pose), j) Removal of the mentioned goods C from the second source container 5c and depositing of the mentioned goods C into the second target container 33c by the gripping unit 61 of the robot 60 to an order line of the second order (see Fig. 5h - Arrow symbolises the first removal and depositing of a first product C), k) Repetition of step i) if the order line for the second order again contains a product C of this product type, renewed removal of the said product C from the second source container 5c and depositing of the said product C into the second target container 33c by the gripping unit 61 of the robot 60 (see Fig. 5h - Hatching of the second source container 5b symbolizes the repeated determination of a grasping surface pose and see Fig. 5i - Arrow symbolizes the second removal and the repeated depositing of a second product C), l) Removal of the first source container 5a after processing the order line for the first order from the first removal location 27a and removal of the second source container 5c after processing the order line for the second order from the second removal location 27b independently of each other by the source container conveyor system.

[0172] It should be noted at this point that the described methods for picking goods are not to be understood as being limited to the above-described embodiment of the source container conveyor system and / or target container conveyor system. Rather, the source container conveyor system can, for example, comprise separately arranged first conveyor devices for transporting the source containers 5 to the first delivery device 24a and second delivery device 24b. Likewise, the source container conveyor system can, for example, comprise separately arranged second conveyor devices for transporting the source containers 5 away from the first delivery device 24a and second delivery device 24b. Furthermore, the target container conveyor system can, for example, comprise separately arranged first conveyor devices for transporting the target containers 33 to the first delivery device 34a and second delivery device 34b.The target container conveying system can also comprise, for example, second conveying devices arranged separately from one another for transporting the target containers 33 away from the first delivery device 34a and the second delivery device 34b.

[0173] In a first version (see Fig. 5a-5m ) the method additionally comprises step m): removal of the first target container 33a after processing the order line for the first order from the first loading station 37a and removal of the second target container 33c after processing the order line for the second order from the second loading station 37b independently of one another by a target container conveyor system.

[0174] In a second version (see Fig. 6a-6e ) the method additionally comprises steps m) to u). These steps are preceded by the processing of an order line for the first order, which, for example, comprises 2 pieces of product A, ( Fig. 6a-6b ) and the processing of an order line for the second order, which includes, for example, 1 piece of product C, ( Fig. 6b-6c ). This applies to steps b) to l) as described above.

[0175] The provision of the third source container 5c at the first removal location 27a and the provision of the fourth source container 5g at the second removal location 27b can essentially be carried out in parallel or staggered manner.

[0176] The method steps m) to u) relate to further processing of the first order with a next order line and / or second order with a next order line and another measure in the provision of the first target container 33a and / or second target container 33a.

[0177] The procedure may include the steps: m) Transport of a third source container 5h for processing the next order line for the first order to the first supply device 24a with the first removal location 27a and / or transport of a fourth source container 5g for processing the next order line for the second order to the second supply device 24b with the second removal location 27b with the automatically operated source container conveyor system, wherein the source containers 5h, 5g store different goods H, G (not shown) (see Fig. 6a-6e ), n) provision of the first target container 33a on the first loading station 37a (also) during the transport of the third source container 5h in order to process the next order line for the first order, and / or provision of the second target container 33c on the second loading station 37b (also) during the transport of the fourth source container 5g in order to process the next order line for the second order (see Fig. 6a-6e ), o) Determining a gripping surface pose of a gripping surface 63 for at least one of the goods H in the third source container 5c with the aid of a sensor system 62a, after the third source container 5c has been provided at the first removal location 27a, and calculating a gripping pose for the gripping unit 61 from the determined gripping surface pose by a robot controller 64 (see Fig. 6c - Hatching of the third source container 5h symbolizes the determination of a gripping surface pose), p) Removal of the named goods H from the third source container 5h and depositing of the named goods H into the first target container 33a by the gripping unit 61 of the robot 60 to the next order line of the first order (see Fig. 6d - Arrow symbolizes the removal and depositing of a product H), q) repetition of step o) if the next order line for the first order again contains a product H of this product type, renewed removal of the said product H from the third source container 5h and depositing of the said product H into the first target container 33a by the gripping unit 61 of the robot 60 (not shown, since the next order line comprises a single product H), r) and / or determination of a gripping surface pose of a gripping surface 63 for at least one of the products G in the fourth source container 5g with the aid of a sensor system 62b, after the fourth source container 5g has been provided at the second removal location 27b, and calculation of a gripping pose for the gripping unit 61 from the determined gripping surface pose by a robot controller 64 (see Fig. 6d - Hatching of the fourth source container 5g symbolizes the determination of a gripping surface pose), s) and / or removal of the mentioned goods G from the fourth source container 5g and depositing of the mentioned goods G into the second target container 33c by the gripping unit 61 of the robot 60 to the next order line of the first order (see Fig. 6e - Arrow symbolizes the removal and depositing of a product G), t) repetition of step r) if the next order line for the second order again contains a product G of this product type, renewed removal of the said product G from the fourth source container 5g and depositing of the said product G into the second target container 33c by the gripping unit 61 of the robot 60 (not shown, since the next order line comprises a single product G), u) removal of the first target container 33a after processing the order lines for the first order from the first loading station 37a and / or removal of the second target container 33c after processing the order lines for the second order from the second loading station 37b independently of each other by the target container conveyor system (see Fig. 6e - Target container 33a is currently being transported away from the first loading point 34a).

[0178] Step n) is to be understood as meaning that the first target container 33a..33g and / or second target container 33a..33g remains stationary at the first loading station 34a / second loading station 34b until, preferably, all order lines for the first order and / or all order lines for the second order have been (completely) processed. The first source container 5a..5h and / or second source containers 5a..5h are provided in a corresponding sequence at the first removal station 24a and / or second removal station 24b, depending on the first target container 33a..33g and / or second target container 33a..33g to be processed.

[0179] Repeating what has been described above, it should also be mentioned here again that it is an advantageous measure if step r) is carried out after the (complete) processing of the order line for the first order and during the movement of the robot 60 / the gripping unit 61 from the first target container 33a to the fourth source container 5g. The robot controller 64 receives the gripping surface pose of a gripping surface 63 for at least one of the goods G in the fourth source container 5g from the sensor system 62b, preferably shortly before the robot 60 / the gripping unit 61 has reached the fourth source container 5g. Step o) is carried out after the (complete) processing of the order line for the second order during the movement of the robot 60 / the gripping unit 61 from the second target container 33c to the third source container 5h.The robot controller 64 receives from the sensor system 62a, preferably shortly before the robot 60 / the gripping unit 61 has reached the third source container 5h, the gripping surface pose of a gripping surface 63 for at least one of the goods H in the third source container 5a.

[0180] Furthermore, it can be provided that the third source container 5h and / or fourth source container 5g are returned to a storage area 1 independently of one another after the picking of the goods H, G in accordance with steps p) and q) and / or steps s) and t), provided that goods H, G remain in the third source container 5h and / or fourth source container 5g after the removal of the goods.

[0181] Fig. 7 shows a possible combination of the above-described picking station 2 with robot 60 for automatic picking and a picking station 2' with manual picking with an operator. Such a picking station 2' with manual picking is described in WO 2018 / 006112 A1. The same structure of the delivery device 69 for source containers and the same structure of the delivery device for target containers 70 can be used. The delivery device 69 preferably has a single removal location for a source container, and the delivery device 70 preferably has a single loading location for a target container. Such an embodiment enables those goods that can be manipulated (picked) only with difficulty or not at all by the robot 60 / gripping unit 61 to be processed at the picking station 2' with manual picking.The source container conveyor system of picking station 2 is connected to the delivery device 69, and the target container conveyor system of picking station 2 is connected to the delivery device 70. Thus, the source containers containing such goods can be provided at the delivery device 69. The target containers loaded with such goods can be provided at the delivery device 70.

[0182] The Fig. 8 and 9 now show an exemplary picking station 2a with a fully automated robot system, which comprises a gantry robot 60a, in an oblique view, wherein the Fig. 8 the picking station 2a diagonally from the front and the Fig. 9 the picking station 2a is shown diagonally from behind. Fig. 10 and 11 show the gantry robot 60a from the Fig. 8 and 9with gripping unit 61 extended downwards, also in an oblique view. Fig. 10 shows the gantry robot 60a diagonally from the front and the Fig. 11 obliquely from behind. This gantry robot 60a can be used at the above-described picking station 2. Likewise, this gantry robot 60a can be used to carry out the above-described methods for the fully automated picking of various goods from source containers 5a..5h into target containers 33a..33g (see also claims 16 to 25 or claims 26 to 38).

[0183] The picking station 2a comprises two picking stations 27a, 27b, which are part of a conveyor device 12 or can be connected to it, as well as two loading stations 37a, 37b, which are part of a conveyor device 13 or can be connected to it. In this example, a source container 5a is arranged at the picking station 27a. The picking station 27b is empty in this example, but a source container 5b could of course be arranged on it. The loading stations 37a, 37b are also empty in this example, but target containers 33a, 33b could be positioned on them.

[0184] In the example shown, the picking station 2a comprises two picking stations 27a, 27b and two loading stations 37a, 37b. However, it would also be conceivable that a different number of picking stations 27a, 27b and loading stations 37a, 37b is provided, for example only one picking station 27a and one loading station 37a or more than two picking stations 27a, 27b and loading stations 37a, 37b. It is also conceivable that the goods A..H to be picked are provided directly (i.e. without source containers 5a, 5b and target containers 33a, 33b) at the picking stations 27a, 27b and loading stations 37a, 37b.

[0185] The conveying device 12 is part of a source container conveying system for the automated transport of source containers 5a, 5b. Furthermore, the conveying device 13 is part of a target container conveying system for the automated transport of target containers 33a, 33b. The source container conveying system and / or the target container conveying system can be designed in particular as shown in one of the preceding figures. Accordingly, the source container conveying system can have a first supply device 24a, which includes the first removal location 27a, and an optional second supply device 24b, which includes the second removal location 27b. The target container conveying system can further have a first supply device 34a, which includes the first loading location 37a, and a second supply device 34b, which includes the second loading location 37b.

[0186] The source container conveyor system for the automated transport of source containers 5a, 5b and / or the target container conveyor system for the automated transport of target containers 33a, 33b can be configured according to the embodiments described above. Likewise, the above-described storage plate 66a and / or storage plate 66b and / or storage plate 66c and / or storage plate 66d can be present.

[0187] The gantry robot 60a comprises a base frame, which in this example comprises four vertical supports 71. The base frame could also have longitudinal beams (extending in the x-direction) and / or cross beams (extending in the y-direction) connected to the vertical supports 71. It would also be conceivable for the base frame to have several side walls instead of the vertical supports 71 or in addition thereto.

[0188] In this example, the gantry robot 60a further comprises a first gantry carriage 74 which is displaceably mounted relative to the vertical uprights 71 of the base frame and is horizontally movable in a first direction x via a first drive device 72 along a first guide arrangement 73. In addition, the gantry robot 60a comprises a second gantry carriage 77 which is displaceably mounted on the first gantry carriage 74 and is horizontally movable in a second direction y running transversely to the first direction x via a second drive device 75 along a second guide arrangement 76. Furthermore, the gantry robot 60a comprises a third gantry carriage 80 which is displaceably mounted on the second gantry carriage 77 and is vertically movable in a third direction z via a third drive device 78 along a third guide arrangement 79.In addition, the gantry robot 60a comprises a gripping unit 61 coupled to the third gantry carriage 80 and mounted so as to be rotatable about a first axis of rotation Da1 and movable via a fourth drive device 81.

[0189] Specifically, the gantry robot 60a comprises a gantry arm 82 movable via the fourth drive device 81, which is rotatably mounted on the third gantry carriage 80 about a first, vertical axis of rotation Da1. The gripping unit 61 is rotatably mounted on the gantry arm 82 about a second, horizontal axis of rotation Da2 and is movable via a fifth drive device 83. Accordingly, the gripping unit 61 is rotatable both about the vertical axis of rotation Da1 and about the horizontal axis of rotation Da2. Therefore, the gripping unit 61 can be moved particularly well into an advantageous gripping pose, for example, when the goods A..H to be gripped are formed by a box lying obliquely in a source container or when the gripping unit 61 is not (rotationally) symmetrical when viewed from below, as is the case with the gantry robot 60a shown.Even if a rotation about two axes of rotation Da1, Da2 is advantageous, it would of course also be conceivable that the gripping unit 61 can only be rotated about a vertical axis of rotation Da1 or only about a horizontal axis of rotation Da2.

[0190] In this example, the gantry robot 60a further comprises a first x-guide rail 84a, which is arranged on a first x-carrier 85a, and a second x-guide rail 84b, which is arranged on a second x-carrier 85b. The first x-guide carriage 86a of the first gantry slide 74 is displaceably mounted on the first x-guide rail 84a, and the second x-guide carriage 86b of the first gantry slide 74 is displaceably mounted on the second x-guide rail 84b. The first x-guide rail 84a, the first x-guide carriage 86a, the second x-guide rail 84b, and the second x-guide carriage 86b form the first guide arrangement 73 in this example.

[0191] The first drive device 72 comprises, according to the Fig. 8 bis 11 The illustrated embodiment has an x-traction mechanism drive connected to the first gantry carriage 74, which in this example has a continuously rotating first x-traction mechanism 87a and a continuously rotating second x-traction mechanism 87b. The first x-traction mechanism 87a and the second x-traction mechanism 87b are each guided around a deflection wheel and a drive wheel (not shown), which are arranged in first wheel housings 88a..88d at the ends of the x-beams 85a, 85b. One of the drive wheels is coupled to an electric x-actuator 89, and the two drive wheels of the x-traction mechanism drive are coupled in this example via a coupling shaft 90. However, it would also be conceivable for the x-traction mechanisms 87a, 87b to be driven via separate (and electronically coupled) x-actuator motors 89. The coupling shaft 90 can then be omitted.

[0192] By rotating the drive wheel clockwise or counterclockwise, the first portal slide 74 (and thus also the second portal slide 77 and the third portal slide 80) is moved horizontally in the x-direction relative to the removal locations 27a, 27b and to the source container 5a, 5b as well as relative to the loading locations 37a, 37b and to the target container 33a, 33b.

[0193] In this example, the gantry robot 60a further comprises a first y-guide rail 91a and a second y-guide rail 91b, which are arranged on a y-carrier 92. The y-guide carriage 93 of the second gantry slide 77 is displaceably mounted on the first y-guide rail 91a and the second y-guide rail 91b. The first y-guide rail 91a, the second y-guide rail 91b, and the y-guide carriage 93 form the second guide arrangement 76 in this example.

[0194] The second drive device 75 comprises, according to the Fig. 8 bis 11 The illustrated embodiment has a y-traction mechanism drive connected to the second gantry carriage 77, which in this example also has a continuously rotating y-traction mechanism 94. The first y-traction mechanism 94 is in turn guided around a deflection wheel and a drive wheel (not shown), which are arranged in second wheel housings 95a, 95b at the ends of the y-carrier 92. The drive wheel is coupled to an electric y-actuator 96.

[0195] By rotating the drive wheel clockwise or counterclockwise, the second portal carriage 77 (and thus also the third portal carriage 80) is moved horizontally in the y-direction relative to the removal locations 27a, 27b and to the source container 5a, 5b as well as relative to the loading locations 37a, 37b and to the target container 33a, 33b.

[0196] The gantry robot 60a further comprises three base plates 97a..97c, which are mounted so as to be displaceable relative to one another in the z-direction. In this example, four z-guide rails 98a..98d are arranged on the second base plate 97b. The guide rails 98a, 98b are arranged on the front side of the second base plate 97b, and the two other guide rails 98c, 98d are each arranged behind the guide rails 98a, 98b on the rear side of the second base plate 97b. The guide rails 98a, 98b on the rear side of the second base plate 97b are displaceably mounted in z-guide carriages 99a, which are mounted on the first base plate 97a (Note: in the Fig. 8 bis 11 only one z-guide carriage 99a of the two z-guide carriages is visible). Two further z-guide carriages 100a, 100b are mounted on the third base plate 98c and are slidably mounted on the guide rails 98a, 98b.

[0197] The first base plate 97a and the z-guide carriages 99a are thus encompassed by the second gantry carriage 77. The second base plate 97b and the third base plate 97c, the guide rails 98a..98d, and the z-guide carriages 100a, 100b are part of the third gantry carriage 80.

[0198] The third drive device 78 comprises, according to the Fig. 8 bis 11 In the embodiment shown, a gear (not shown) is located in a gear housing 101. The gear is connected to a shaft of an electric z-actuator 102 and meshes with a rack 103 mounted on the back of the second base plate 97b. This allows the second base plate 97b to be moved relative to the first base plate 97a. A first deflection wheel 104 is rotatably mounted on the upper portion of the second base plate 97b, and a second deflection wheel 105 is rotatably mounted in the lower portion, around which a z-pulling means 106 is guided. The z-pulling means 106 is connected to the first base plate 97a and to the third base plate 97c. When the second base plate 97b moves relative to the first base plate 97a, the third base plate 97c is also moved relative to the second base plate 97b, even though the z-pulling means 106 itself is not driven by a motor. Overall, this results in a double telescope.

[0199] By rotating the said gear wheel clockwise or counterclockwise, the third portal carriage 80 is thus moved vertically in the z-direction relative to the removal locations 27a, 27b and to the source container 5a, 5b as well as relative to the loading locations 37a, 37b and to the target container 33a, 33b.

[0200] The Fig. 8 and 9 show the third portal carriage 80 in its upper rest position. Fig. 10 and 11 show a view in which the third portal carriage 80 and thus the movable gripping unit 61 are extended downwards.

[0201] The gantry robot 60a may include a position measuring device (not shown) by means of which the adjustment movements of the first gantry carriage 74, the second gantry carriage 77, and the third gantry carriage 80 are recorded. The measuring method of absolute and incremental position measurement can be utilized.

[0202] Fig. 12a now shows a detailed view of the portal arm 82 with the gripping unit 61 arranged in the lower area from an angled front. Fig. 12b shows the portal arm 82 with the gripping unit 61 arranged in the lower area from an angled rear view.

[0203] Fig. 13a further shows a detailed view of the portal arm 82 with the gripping unit 61 arranged in the lower area from the left side, the Fig. 13b from the right side. The gripping unit 61 is pivoted backward by 45° around the horizontal rotation axis Da2. Dashed lines also show a pivoting of the gripping unit 61 forward by 45°. A pivot angle of 45° is not to be understood as limiting; rather, the gripping unit 61 can also be pivoted by a different pivot angle around the horizontal rotation axis Da2.

[0204] The fourth drive device 81 comprises, according to the Fig. 8 bis 13b The illustrated embodiment comprises a first rotary actuator 107, which transmits a rotary movement to the portal arm 82 via a gear (not shown) in the first gear housing 108, thus enabling relative rotation of the portal arm 82 relative to the removal locations 27a, 27b and the source container 5a, 5b, as well as relative to the loading locations 37a, 37b and the target container 33a, 33b. The possible angle of rotation in the example shown is 360°, and in particular, the portal arm 82 can be rotated endlessly. However, it would also be conceivable for the angle of rotation of the portal arm 82 to be limited to smaller angles of rotation.

[0205] The fifth drive device 83 comprises, according to the Fig. 8 bis 13b In the embodiment shown, a second rotary actuator 109 transmits a rotary movement to the gripping unit 61 and thus enables a relative rotation of the gripping unit 61 relative to the removal locations 27a, 27b and to the source container 5a, 5b as well as relative to the loading locations 37a, 37b and to the target container 33a, 33b. Specifically, the rotary movement is transmitted from a first pulley 110 via a first belt 111 to a second pulley 112, to the shaft 113, from the shaft to a (bevel) gear (not shown), to two third pulleys 114a, 114b, to two second belts 115a, 115b, and finally to two fourth pulleys 116a, 116b. The possible pivot angle in the example shown is ±45°. However, it would also be conceivable that the maximum angle of rotation of the gripping unit 61 is less than ±45° or even greater than ±45°.

[0206] The gantry robot 60a may further comprise an angle measuring device (not shown) by means of which the adjustment movements of the gantry arm 82 and the gripping unit 61 are recorded. The measuring method of absolute and incremental angle measurement can be utilized.

[0207] This is particularly evident in the Fig. 12a und 12b that the gripping unit 61 in this example comprises three vacuum suction grippers 117, which are connected to a vacuum generator (not shown) via fluid lines, in particular air hoses 118. It proves advantageous if the air hoses 118 (fluid lines) are accommodated in an internal (integrally formed) line receiving channel (not shown in detail) running in the longitudinal direction of the portal arm 82. Alternatively, air guide channels (fluid lines) can be machined in the portal arm 82; for example, bores are provided in the portal arm to form the air guide channels.

[0208] In other words, the fluid lines are integrally present in the portal arm 82. This in turn facilitates the removal of a product from a source container 5a or the depositing of a product into a target container 33. The portal arm 82 can be moved unhindered and particularly close to a container wall and can be immersed in the source container 5a or target container 33, as shown in Fig. 14 shown.

[0209] Due to the redundancy of the vacuum suction grippers 117, goods A..H can be grasped in this way with a particularly low error rate. This means that the number of failed handling operations of goods A..H is low in relation to the total number of handling operations of these goods A..H.

[0210] Specifically, the vacuum suction grippers 117 are arranged in a triangle and form a gripping plane, whereby goods A..H in particular are well grasped which have a flat boundary surface or several such boundary surfaces, for example boxes.

[0211] Advantageously, the portal arm 82 comprises a flat, vertical boundary surface 119, which is aligned parallel to one of the sides a of the triangle at whose corners the centers of the vacuum suction grippers 117 are located. In particular, the portal arm 82, as shown in the Fig. 8 bis 13a shown, have a round (circular) cross-section that is flattened in the region of the aforementioned vertical boundary surface 119. However, it would also be conceivable for the portal arm 82 to have a polygonal cross-section (in particular a rectangular cross-section or triangular cross-section). The aforementioned vertical boundary surface 119 is then formed by a side surface of a polygonal prism.

[0212] Due to the at least one vertical boundary surface 119 of the portal arm 82, which is aligned to one of the sides of the triangle, the portal arm 82 can be immersed particularly close to a container wall into a source container 5a or target container 33 in order to grip a product A..H, as is shown by way of example in the Fig. 14 for the product A is shown.

[0213] Advantageously, the flat, vertical boundary surface 119 of the portal arm 82 up to the lower end of the gripping unit 61 is larger (longer) than 1.1 times the container height hB of the source container 5a and / or the target container 33, as in connection with the Fig. 14 This means that the immersion height ht > 1.1 times the vessel height hB.

[0214] In the example shown, the portal arm 82 has a vertical, flat boundary surface 119 (side wall), which is set back from a maximum cross-sectional contour of the portal arm 82. However, it would also be conceivable for the (entire) portal arm 82 to have a prismatic outer contour.

[0215] As in Fig. 14 As can be seen, it can also be advantageous if a diameter of the gripping unit 61, regardless of the number of vacuum suction grippers 117 used, is not or not significantly larger than a diameter of the portal arm 82.

[0216] At this point, it should be noted that the portal arm 82 and the gripping unit 61 are not rotationally symmetrical when viewed from below, which is why the ability of the gripping unit 61 to rotate about the vertical axis of rotation Da1 is particularly advantageous. However, if the portal arm 82 and the gripping unit 61 are rotationally symmetrical when viewed from below, the ability of the gripping unit 61 to rotate about the vertical axis of rotation Da1 can, under certain circumstances, be omitted without significant disadvantage.

[0217] It is also advantageous if the gantry robot 60a has a gripper receptacle 120 mounted on the gantry arm 82 so as to be rotatable about the second, horizontal axis of rotation Da2, to which the gripping unit 61 is fastened. The gripper receptacle 120 allows gripping units 61 of various types to be fastened to the gantry robot 60a, wherein the gripping units 61 are each adapted to different gripping tasks. For example, in addition to gripping units 61 with vacuum suction grippers 117, mechanical gripping elements (e.g., a robot hand or gripping tongs) can also be arranged on the gripping unit 61. Furthermore, a gripping unit 61 is not limited to three vacuum suction grippers 117 arranged in a triangle; rather, the gripping unit 61 can also have more or fewer than three vacuum suction grippers 117, and the vacuum suction grippers 117 can also be arranged geometrically differently.

[0218] In a further advantageous embodiment of the picking station 2a, it comprises at least one container drive for rotating the at least one removal location 27a, 27b (including a source container 5a, 5b provided thereon) and the at least one loading location 37a, 37b (including a target container 33a, 33b provided thereon) relative to the base frame 71 of the gantry robot 60a about a vertical axis of rotation, and / or for tilting the at least one removal location 27a, 27b (including a source container 5a, 5b provided thereon) and the at least one loading location 37a, 37b (including a target container 33a, 33b provided thereon) relative to the base frame 71 of the gantry robot 60a about a horizontal axis of rotation.

[0219] As a result, the gripping unit 61 can also be easily moved into an advantageous gripping pose for gripping goods A..H, but by rotating the source container 5a, 5b and / or the target container 33a, 33b relative to the gantry robot 60a. If the source container 5a, 5b and the target container 33a, 33b can be rotated about a vertical axis of rotation, the gripping unit 61 per se does not need to be mounted so as to be rotatable about a vertical axis of rotation Da2 relative to the third gantry carriage 80. Likewise, the gripping unit 61 does not need to be mounted so as to be rotatable about a horizontal axis of rotation Da1 relative to the third gantry carriage 80 if the source container 5a, 5b and the target container 33a, 33b can be tilted about a horizontal axis of rotation.

[0220] In an advantageous embodiment, the fully automated robot system with the gantry robot 60a comprises a sensor system 62a, 62b, in particular a camera system, at least for detecting the goods A..H in the first source container 5a and optionally in the second source container 5b, provided a second delivery device 24b is provided, as well as a robot controller 64, which is connected to the sensor system 62a, 62b and controls the robot 60 with the gripping unit 61. In this way, the picking process can be fully automated. In particular, the proposed measures also enable the correction of any errors that may occur during picking.

[0221] Thanks to the measures presented, the gripping unit 61 can be moved particularly well into an advantageous gripping pose. In particular, the portal arm 82 can be moved vertically onto the bottom of a source container 5a, 5b or target container 37a, 37b. An optimal gripping pose can be achieved by the portal arm 82 remaining in its vertical position while the gripping unit 61 is pivoted relative to the portal arm 82. The portal arm 82 and the gripping unit 61 can thus penetrate very closely next to a side wall into a source container 5a, 5b or target container 37a, 37b, even if the portal arm 82 does not have a specially shaped boundary surface 119. Thus, goods A..H can also be removed from the edge area of ​​a source container 5a, 5b, and goods A..H can be delivered to the edge area of ​​a target container 37a, 37b.

[0222] Finally, it is also noted that the scope of protection is determined by the patent claims. However, the description and drawings must be used to interpret the claims.

[0223] In particular, it is also noted that the devices depicted may in reality comprise more or fewer components than shown. In some cases, the depicted devices or their components may be shown not to scale and / or enlarged and / or reduced in size. Bezugszeichenaufstellung

[0224] 1Storage area 2, 2aPicking station 3Source container distribution system 4Target container distribution system 5Source container 6Storage rack 7Shelving aisle 8Storage location 9Storage retrieval device 10Conveyor device 11Conveyor device 12Conveyor device 13Conveyor device 14Conveyor device 15Infeed and / or outfeed device 16Transfer device 17Guide track 18Transport device 19Buffer device 20Lifting device 21 22a, 22bConveyor 23Rotating station 24a, 24bSupply device for first source container / second source container 25Conveyor for transporting source container 26Conveyor device for removing source container 27a, 27bRemoval point for first source container / second source container 28Transfer device 29Transfer device 30a, 30bConveyor 31Control unit 32Buffer device 33Target container 34Supply device for first target container / second target container 35Conveyor device for transporting the target container 36Conveyor device for transporting the target container 37a, 37bLoading station for the first target container / second target container 38Transfer device 39Transfer device 40Buffer device 41Goods exit 42Conveyor device 43Conveyor device 44Sorting buffer 45Conveyor device 46Conveyor device 47Buffer space 48Sorting space 49 50Funding 51Distance 52a, 52bSupply level 53a, 53bSupply level 54Conveyor device 55Conveyor means 56Conveyor means 57Conveyor means 58Conveyor means 59 60, 60aRobot 61Gripping unit 62a, 62bSensor system 63Gripping surface 64Robot controller 65a, 65bSensor system 66a..66dStorage plate 67a, 67bAccess opening 68Sensor system 69Source container supply device 70Target container supply device 71(Vertical support) base frame 72First drive device 73First guide arrangement 74First gantry carriage 75Second drive device 76Second guide arrangement 77Second gantry carriage 78Third drive device 79Third guide arrangement 80Third gantry carriage 81Fourth drive device 82Gantry arm 83Fifth drive device 84a, 84bx-Guide rail 85a, 85bx-Carrier 86a, 86bx-Carriage 87a, 87bx-Traction device 88a..88first wheel housing 89x-Actuator 90Coupling shaft 91a, 91by-Guide rail 92y-Carrier 93y-Guide carriage 94y-Traction device 95a, 95bSecond wheel housing 96y-Actuator 97a..97cBase plate 98a..98dz-Guide rail 99az-Guide carriage 100a, 100bz-Guide carriage 101Gear housing 102z-Actuator motor 103Gear rack 104First idler pulley 105Second idler pulley 106Z-traction mechanism 107First rotary actuator 108Gearbox housing 109Second rotary actuator 110First pulley 111First belt 112Second pulley 113Shaft 114a, 114b third pulley 115a, 115b second belt 116a, 116b fourth pulley 117 vacuum suction cup 118 air hose 119Vertical boundary surface of the portal arm 120Gripper holder A..HWare xfirst (horizontal) direction ysecond (horizontal) direction zthird (vertical) direction Da1first axis of rotation Da2second axis of rotation atriangular side htimmersion height hBcontainer height

Claims

1. A picking station (2a) for picking articles (A..H) from source containers (5a, 5b) into target containers (33a, 33b), comprising a source container conveying system for automated transporting of source containers (5a, 5b) with a first provisioning device (24a) which has at least one removal area (27a) at which a source container (5a, 5b) is provided, a target container conveying system for automated transporting of target containers (33a, 33b) with a first provisioning device (34a) which has at least one loading area (37a) at which a target container (33a, 33b) is provided, and a fully automated robot system with a gantry robot (60a) and a sensor system (62a, 62b), in particular a camera system, at least for capturing the articles (A..H) in the first source container (5a, 5b) and a robot control (64) which is connected with the sensor system (62a, 62b) and controls the gantry robot (60a) having a gripping unit (61), wherein the gantry robot (60a) comprises a base frame (71), a first gantry slide (74) mounted so as to be displaceable relative to the base frame (71) and horizontally movable by a first drive device (72) along a first guide assembly (73) in a first direction (x), characterized in that the gantry robot (60a) further comprises a second gantry slide (77) mounted at the first gantry slide (74) so as to be displaceable and horizontally movable by a second drive device (75) along a second guide assembly (76) in a second direction (y) extending transverse to the first direction (x), a third gantry slide (80) mounted at the second gantry slide (77) so as to be displaceable and vertically movable via a third drive device (78) along a third guide assembly (79) in a third direction (z), a gantry arm (82) mounted on the third gantry slide (80) so as to be rotatable about a first, vertical axis of rotation (Da1) and movable by a fourth drive device (81), and a gripper receptacle (120) which is rotatably mounted on the gantry arm (82) about a second, horizontal axis of rotation (Da2) and is movable by a fifth drive device (83), wherein the gripping unit (61) is fastened to the gripper receptacle (120) and comprises a vacuum-suction gripper (117) which forms a gripping surface.

2. The picking station (2a) according to claim 1, characterized in that the gantry arm (82) has a side wall which is offset backward relative to a maximum cross-sectional contour and which extends from the bottom end in a direction toward the top end and forms a substantially planar boundary surface (119).

3. The picking station (2a) according to claim 1 or 2, characterized by a source container (5a, 5b) arranged at the at least one removal area (27a) and / or a target container (33a, 33b) arranged at the at least one loading area (37a), wherein a dipping height (ht), which is measured from the top end of a substantially planar, vertical boundary surface (119) of the overhead arm (82) to the bottom end of the gripping unit (61), is larger than the 1.1-fold container height (hB) of the source container (5a, 5b) and / or of the target container (33a, 33b).

4. The picking station (2a) according to claim 1, characterized by at least one container drive for rotating the at least one removal area (27a) and the at least one loading area (37a) relative to the base frame (71) of the gantry robot (60a) about a vertical axis of rotation, and / or for tilting the at least one removal area (27a) and the at least one loading area (37a) relative to the base frame (71) of the gantry robot (60a) about a horizontal axis of rotation.

5. The picking station (2a) according to claim 1, characterized in that the source container conveying system additionally has a second provisioning device (24b), which comprises a removal area (27b), and the target container conveying system additionally has a second provisioning device (34b), which comprises a loading area (37b).

6. The picking station (2a) according to claim 5, characterized in that the source container conveying system comprises a first conveying device (25) for supplying the source containers (5a, 5b), a second conveying device (26) for removing the source containers (5a, 5b) from the first provisioning device (24a) and the second provisioning device (24b), a first transfer device (28) for transporting a first source container (5a) from the first conveying device (25) to the first provisioning device (24a), and a second transfer device (29) for transporting a second source container (5b) from the first conveying device (25) to the second provisioning device (24b), wherein the first provisioning device (24a), having the first removal area (27a) at which the first source container (5a) is provided, is connected in terms of conveyance to the first conveying device (25) by the first transfer device (28), wherein the second provisioning device (24b), having the second removal area (27b) at which the second source container (5b) is provided, is connected in terms of conveyance to the first conveying device (25) by the second transfer device (29), and wherein the first provisioning device (24a) having the first removal area (27a) and the second provisioning device (24b) having the second removal area (27b) are arranged along the second conveying device (26) for removing source containers (5a, 5b), and / or the target container conveying system comprises a first conveying device (35) for supplying the target containers (33a, 33b), a second conveying device (36) for removing the target containers (33a, 33b) from the first provisioning device (34a) and the second provisioning device (34b), a first transfer device (38) for transporting a first target container (33a) from the first conveying device (35) to the first provisioning device (34a), and a second transfer device (39) for transporting a second target container (33b) from the first conveying device (35) to the second provisioning device (34b), wherein the first provisioning device (34a), having the first loading area (37a) at which the first target container (33a) is provided, is connected in terms of conveyance to the first conveying device (35) by the first transfer device (38), wherein the second provisioning device (34b), having the second loading station (37b) at which the second target container (33b) is provided, is connected in terms of conveyance to the first conveying device (35) by the second transfer device (39), and wherein the first provisioning device (34a) having the first loading area (37a) and the second provisioning device (34b) having the second loading area (37b) are arranged along the second conveying device (36) for removing target containers (33a, 33b), wherein the first provisioning device (24a) having the first removal area (27a) and the first provisioning device (34a) having the first loading area (37a) are arranged opposite one another, wherein the second provisioning device (24b) having the second removal area (27b) and the second provisioning device (34b) having the second loading area (37b) are located opposite one another, and wherein the second conveying device (26) for removing source containers (5a, 5b) and the second conveying device (36) for removing target containers (33a, 33b) are arranged in parallel.