Picking robot with an end effector with suction grippers that can be activated by rotating the handle

Description

[0001] The invention relates to an order picking robot with an end effector with two suction grippers that can be activated by rotation.

[0002] The use of suction cups for handling products or articles is common in various contexts. A wide variety of different types of suction cups are available on the market, optimized for different applications, such as gripping packages, pharmacy items, bags or sacks, piece goods, sheet materials, and sheets of paper or cardboard.

[0003] In systems where different types of products are to be handled, the system must be extensively converted when changing product categories. This involves, among other things, connecting a suction gripper suitable for the new product category to a gripper arm. This requires a mechanical connection on the one hand and a connection to a suction air or compressed air, pneumatic, or hydraulic line on the other.

[0004] In various applications, for example during order picking, the product must be removed from a load carrier, in particular a container with a rectangular base. Particularly when the product cannot be gripped equally from every side, it can happen that the surface area of ​​the product to be gripped is in a corner of the container and may be oriented in such a way that it is difficult for the suction gripper to access. For this purpose, it is known from WO 2012163666 A1, for example, to attach suction grippers in a rotatable or pivotable manner to a wrist-like end region of an articulated arm so that the suction gripper can easily reach into corners of the container.

[0005] From EP 2 708 335 A1 a high-speed gripper changing system is known in which a suction gripper can be attached by magnetic force to a front end effector main body of an articulated arm of a gripping system.

[0006] WO 2012163666 A1 discloses a picking system for the automated picking of articles with an articulated-arm gripper for picking up the article from a container. The articulated-arm gripper has a substantially vertical longitudinal arm and an articulated arm that can be bent at an angle, on which a suction gripper is provided for gripping the article. The longitudinal arm of the articulated-arm gripper is at least twice as long, and in particular at least five times as long, as the articulated arm of the articulated-arm gripper. This is intended to enable better gripping of articles, in particular those lying at an angle to the storage container. However, converting the picking system to a different type of suction gripper is associated with the difficulties mentioned above.

[0007] From DE 10 2010 002 317 B4 a system for singling and picking pharmacy articles is known, which comprises a handling device for separately removing articles from a first transport device and transferring them to a second transport device, wherein the handling device has a plurality of gripping and / or suction devices which can be selected depending on the article to be handled and which are fastened in a tool turret arrangement on the front end effector main body of the gripper arm.

[0008] The document JP 2001210997 discloses a suction gripper with a rotary feedthrough for use in the assembly of electronic components.

[0009] Document EP 0008 379 A1 discloses a device with a gripper system for semiconductor chips that can be rotated about a vertical axis.

[0010] Document WO 2016 / 029299A1 discloses an end effector for a robot intended for harvesting mushrooms. Four different grippers are arranged on a carousel.

[0011] The invention is based in particular on the object of providing an order picking robot with an end effector which can be easily converted, preferably fully automatically, and which enables reliable gripping even of articles lying at an angle and / or at an angle in a container.

[0012] The object is achieved by a picking robot having the features of claim 1. Advantageous embodiments of the invention emerge from the subclaims.

[0013] The invention relates to an order-picking robot with a robot arm designed as an articulated arm and an end effector attached to the end of the robot arm via an interface, having the features of claim 1.

[0014] Because the suction cup extends beyond a free end of the end effector's main body, even items or products located deep within a container can be easily grasped, and the interference contour of the end effector's main body is minimized. Thanks to the rotatable bearing, when one suction cup is unscrewed, the other is rotated toward the proximal end of the end effector's main body, protecting them from collisions and preventing them from disrupting the process.

[0015] It is further proposed that a rotary drive for rotating the gripper carrier be arranged in or on the end effector main body, or integrated into the main body. This allows the end effector to be mounted very universally on various articulated-arm robot systems.

[0016] According to a further embodiment of the invention, it is proposed that the end effector main body be designed for attachment to a robot arm whose end member is rotatable about a longitudinal axis of the end effector main body. This allows the orientation of the suction gripper along the longitudinal axis of the end effector main body to be controlled such that the articles or products can be gripped reliably.

[0017] {According to the invention, exactly two suction grippers are arranged on the gripper carrier in positions opposite each other relative to the horizontal rotation or pivot axis. Compared to solutions with three or more suction grippers, the inactive suction gripper can be rotated out of the working zone to the maximum and is very well protected against collisions.} [insert this passage into page 3]

[0018] In an advantageous embodiment of the invention, the end effector comprises a passive valve mechanism for establishing and disconnecting a connection between the suction or compressed air line and one of the suction grippers. The passive valve mechanism is designed such that when a suction gripper is activated by rotating it into the angular interval assigned to that suction gripper, the connection between the suction or compressed air line and the activated suction gripper is automatically established. This eliminates the need for active switching of valves. When changing suction grippers, the connection of a suction or compressed air line to a suction gripper to be replaced can be automatically disconnected and the connection of a suction or compressed air line to a new suction gripper to be used in the next step can be established, thus enabling fully automatic changeover.

[0019] It is further proposed that the rotary or pivot bearing comprise two bearing bodies, one of which forms a valve body of the valve mechanism or is mechanically connected to a valve body of the valve mechanism in such a way that each of the suction grippers is automatically connected to the suction or compressed air line in the angular interval of rotational positions of the bearing bodies assigned to it. By integrating the valve mechanism into the rotary or pivot bearing, a particularly compact design can be achieved.

[0020] In a particularly advantageous embodiment of the invention, the valve mechanism forms a rotary valve formed from the two bearing bodies with a rotary feedthrough for the suction or compressed air line.

[0021] It is particularly proposed that the two bearing bodies comprise sliding bearing surfaces with through-openings that overlap with each other at the predetermined angular intervals and thus establish the connection between one of the suction grippers and the suction or compressed air line.

[0022] It is proposed that the sliding bearing surfaces are axial bearing surfaces and one of the through openings is a circular arc-shaped slot extending over the angular interval.

[0023] In an advantageous embodiment of the invention, the two suction grippers are precisely two suction grippers with different characteristics. In addition to the diameter, the different suction grippers can also differ in other parameters, such as material, type and specifications of the bellows, load-bearing capacity, surface, etc., and suction grippers optimized for bags, cardboard, or metal. The suction grippers can be arranged interchangeably on the gripper carrier.

[0024] {{According to the invention, the predetermined angular intervals assigned to the different suction grippers do not overlap and extend over pivot angles of at least 60°, preferably at least 90°, more preferably at least 120°.}} [insert this passage into page 3]

[0025] A further aspect of the invention relates to a picking system comprising such a picking robot, an image processing device for detecting the location and position of an article to be gripped in a load carrier, in particular a container, and a controller for controlling the end effector. The controller is designed to adjust a rotation angle of the end effector main body and the gripper carrier depending on the detected type, position, and location of the article and container walls. In addition to containers, other load carriers can also be used, for example, trays, cartons, or pallets. In the following, the term "load carrier" is used as a generic term for all types of load carriers.

[0026] In one embodiment of the invention, it is proposed that the image processing device be configured to detect an article type, and the controller be configured to select a suction gripper suitable for the article type and rotate it into an active position depending on the detected article type. Information from the article master data of the computer system that controls the picking process is also used to select the appropriate suction gripper.

[0027] It is further proposed that the elongated end effector main body of the gripper arm be rotatable about its longitudinal axis—either by a robot or by its own rotary drive—and that the rotary or pivot bearing has a horizontal rotation or pivot axis when the end effector is in use. This enables good gripping into containers despite the load carrier or container walls acting as interfering contours, in such a way that the suction gripper used can also be docked onto inclined surfaces of a product to be gripped, while a non-active suction gripper can be rotated into a position in which it does not interfere with the interfering contours, in particular into a position diametrically opposite the active suction gripper.

[0028] In addition to suction grippers, the gripper carrier can also comprise other types of grippers, such as claw grippers, which can be hydraulically or pneumatically actuated via the suction or compressed air line, or magnetic grippers, whereby the magnetic gripper can be arranged, for example, at a position opposite the suction gripper on the gripper carrier. The magnetic gripper can be passively activated via sliding contacts / contact strips that connect an electromagnet of the magnetic gripper to an electrical circuit at specific angular intervals of the gripper carrier. The magnetic gripper can be used to grip metallic, particularly magnetizable, items.

[0029] Further features and advantages will become apparent from the following description of the figures. The entire description, claims, and figures disclose features of the invention in specific embodiments and combinations. Those skilled in the art will consider other combinations, provided these combinations fall within the scope of the appended claims, in order to adapt the invention to their needs or specific areas of application.

[0030] Showing: Fig. 1 a picking system with a picking robot according to a first embodiment of the invention; Fig. 2 an end effector according to the first embodiment of the invention with an end effector main body and a rotating gripper carrier; Fig. 3 a schematic sectional view of the end effector according to Fig. 2 ; Fig. 4 a schematic representation of the end effector main body according to Figur 3 without the gripper carrier; Fig. 5 an axial bearing surface of the gripper carrier according to Figur 3 with two fluid passage openings; Fig. 6 an alternative design of the bearing bodies, which is not part of the invention; Fig. 7a a further alternative embodiment of the bearing bodies, which is not part of the invention; Fig. 7b a first bearing body from the alternative design of Fig. 7a in an isolated representation which is not part of the invention; Fig. 8 a schematic representation of a belt drive for rotating the gripper carrier of an end effector according to the invention; Fig. 9 a schematic representation of a rod drive for rotating the gripper carrier of an end effector according to the invention; Fig. 10 a schematic plan view of a rectangular container with an end effector engaging the load carrier; Fig. 11a another schematic plan view of a rectangular load carrier with an end effector engaging the load carrier and two articles to be removed; and Fig. 11b another schematic top view of the load carrier from Fig. 11a with one remaining item to be removed.

[0031] Fig. 1 shows a picking system with a picking robot 50, a controller 52, and a camera system 54 according to a first embodiment of the invention. The controller 52 uses the camera system 54 to detect the position and / or location as well as the type of articles, products, or objects 32 ( Fig. 10 ff) located in containers 30 transported to and / or from a conveyor system (not shown) or deposits objects in such containers 30. For this purpose, the picking system uses a picking robot 50 equipped with an end effector 10 according to the invention. The end effector 10 is attached to the end or hand of an articulated arm of the picking robot 50 and can be rotated there about its longitudinal axis Z via a rotational degree of freedom Z of the picking robot 50.

[0032] The end effector 10 comprises an end effector main body 12 and a gripper carrier 14, which is rotatable relative to the end effector main body 12 about a rotational axis X that runs perpendicular to the longitudinal and rotational axis Z of the end effector main body 12. The end effector 10 is supplied with compressed or suction air via hoses 62 in order to actuate suction grippers. The end effector 10 receives signals for rotating the gripper carrier 14 about the rotational axis X via an interface at the end of the robot arm.

[0033] The controller 52 is designed by software to adjust a rotation angle of the end effector main body 12 about the Z-axis and of the gripper carrier 14 about the X-axis depending on the detected position and orientation of the article and of load carrier walls of the load carrier 30.

[0034] The image processing device, consisting of the controller 52 and the camera system 54, is designed to detect an article type and, for example, to determine an article number. Depending on the detected article type, the controller 52 is designed to select a suction gripper 18a, 18b ( Fig. 2 ) and rotate it into an active position. To do this, the controller 52 accesses, in particular, master data of the article in a database in which the weight, surface structure, article shape, other article properties, and, if applicable, a suction gripper to be used are stored.

[0035] Fig. 2 and 3 show the end effector 10 according to the first embodiment of the invention in a more detailed representation.

[0036] The end effector 10 comprises an interface 56 for connection to the robot arm, a connection 58 for the suction air or compressed air and a housing 60 for a drive motor.

[0037] As in Fig. 3 As can be seen, the end effector 10 further comprises a pivot bearing 16, via which the gripper carrier 14 is rotatably connected to an end effector main body 12. The gripper carrier 14 comprises two suction grippers 18a, 18b that can be actuated with suction air or compressed air and a suction or compressed air line 20 for providing the suction air for the suction grippers 18a, 18b.

[0038] The rotary bearing 16 comprises two mutually rotatable bearing bodies 16a, 16b, which simultaneously form a rotary feedthrough for the suction air or compressed air and a valve mechanism 22 for establishing and separating a connection between the suction or compressed air line 20 and a suction gripper 18a, 18b, which can be selected by changing the rotational position of the bearing bodies 16a, 16b.

[0039] The two bearing bodies 16a, 16b form the valve bodies of the valve mechanism 22, which is designed such that each of the suction grippers 18a, 18b is connected to the suction or compressed air line 20 at a predetermined angular interval of relative rotational positions of the bearing bodies 16a, 16b.

[0040] Fig. 4 shows the end effector main body 12 of an end effector 10 according to Figur 3 without the gripper carrier 14. Fig. 5 shows an axial bearing surface of the gripper carrier 14 according to Figur 3 . In the Fig. 4 und 5 In the embodiment of the invention shown, the valve mechanism 22 is a rotary valve formed from the two bearing bodies 16a, 16b with a rotary feedthrough for the suction or compressed air line 20.

[0041] A first bearing body 16a is the end effector main body 12 with a receptacle 24a for a drive shaft of the gripper carrier 14. The drive shaft is driven, for example via a chain drive or a rod drive ( Fig. 8 und 9 ) and can be mounted via ball bearings in the end effector main body 12, wherein the ball bearings complement the axial plain bearing formed by the two bearing bodies 16a, 16b or their contact surfaces. A suction or compressed air line 20 running inside the end effector main body 12 opens into an elongated hole 26 curved in a circular arc concentric with the bearing axis, the circumferential extension of which defines the pivoting range or angular interval within which a specific one of the two suction grippers 18a, 18b is connected to the suction or compressed air line 20.

[0042] A second bearing body 16b is a main body of the gripper carrier 14. An axial end face of the second bearing body 16b, which in the assembled state faces the end effector main body 12, lies tightly and slidingly against the surface of the end effector main body 12 equipped with the elongated hole 26 during operation. The two adjacent surfaces can be pressure-tightly sealed against the outside space, e.g. by seals with labyrinth seals or sealing lips. A receptacle 24b for the drive shaft is formed in the axial end face, or the drive shaft protrudes from the end face, and at a radial distance from the axis of rotation that corresponds to the distance of the elongated hole 26 from the axis of rotation, two suction openings 28a, 28b are provided, the diameter of which corresponds to the width of the elongated hole 26 and which are each connected to one of the suction grippers 18a, 18b.

[0043] In the assembled state of the bearing bodies 16a, 16b, the elongated hole 26 then overlaps in different angular ranges with one of the suction openings 28a, 28b, so that a connection is established between the suction or compressed air line 20 and one of the suction grippers 18a, 18b.

[0044] The end effector 10 is operated by the controller 52, which can control the suction force of the suction air or compressed air and the rotational position of the gripper carrier 14 and thus the selection of the activated gripper 18a, 18b. For this purpose, as already described above, the controller 52 uses image processing to recognize and classify the type, position, and orientation of the object to be gripped. Depending on this, a suitable suction gripper 18a, 18b is selected and rotated into a rotational position in which this suction gripper 18a, 18b is active, i.e., connected to the suction or compressed air line 20. This position can be determined depending on the orientation of the object within the active pivoting range or angular interval, and a suitable suction force is set.

[0045] Fig. 6 shows an alternative embodiment which is not part of the invention. The main body of the gripper carrier 14, designed as a sleeve, is the second bearing body 16b, and a support shaft 44 forms the first main body 16a, which is fixedly connected to the end effector main body 12. The main body of the gripper carrier 14 is slipped onto the support shaft 44. The suction air or compressed air is guided from the activated suction gripper 18a through a radial bore 34a in the second bearing body 16b into a groove 38a extending over part of the circumference on the radial inner surface of the gripper carrier 14. The inner surface of the gripper carrier 14 comprises two grooves 38a, 38b which are offset from one another both in the circumferential direction and in the axial direction and which extend over a specific pivoting range.In the active angular intervals, the grooves 38a, 38b overlap with radial bores 46a, 46b in the support shaft 44, which in turn are connected to an axial bore 34, which, as part of the suction or compressed air line 20, is connected to a suction or pressure pump (not shown). By rotating the second bearing body 16b, the corresponding suction gripper 18a, 18b can be connected to the suction or compressed air line 20 and thus activated. The grooves 38a, 38b are sealed from each other and from the outside by seals (not shown).

[0046] The Fig. 7a und 7b show a further alternative embodiment that is not part of the invention. To avoid repetition, the following description of these further embodiments is essentially limited to differences from the previous alternative embodiment. Because of the unchanged features, the person skilled in the art is referred to the description of the previous alternative embodiment. The same reference numerals are used for identical or similarly acting features to emphasize the similarities.

[0047] In the Fig. 7a und 7b In the example shown, the rotary and pivot bearing comprises a rotatable main body of the gripper carrier 14, designed as a sleeve, as the second bearing body 16b, and a support shaft 44 as the first main body 16a. The main body of the gripper carrier 14 is plugged onto the support shaft 44. The suction air or compressed air is guided from the activated suction gripper 18a through a radial bore 34a in the second bearing body 16b into a groove 38a extending approximately over part of the circumference on the outer surface of a support shaft 44, which can, for example, be firmly connected to the end effector main body 16a.The support shaft 44 comprises two grooves 38a, 38b offset from one another both circumferentially and axially. These grooves extend over a specific pivoting range and are each connected via radial bores 46a, 46b to an axial bore 34, which, as part of the suction or compressed air line 20, is connected to a suction or pressure pump (not shown). By rotating the second bearing body 16b, the corresponding suction gripper 18a, 18b can be connected to the suction or compressed air line 20 and thus activated.

[0048] The grooves 38a, 38b are sealed from each other and from the outside by seals 48a, 48b, 48c.

[0049] Fig. 8 shows a first embodiment of a rotary drive of the gripper carrier 14. The gripper carrier 14 (not shown) is connected in a rotationally fixed manner to a lower gear 40a, which is driven via a gear 40b connected to a motor 64 and a drive belt 42.

[0050] Fig. 9 shows a second embodiment of a rotary drive of the shaft of the gripper carrier 14. The gripper carrier 14 (not shown) is connected in a rotationally fixed manner to a lower eccentric wheel 40a, which is driven via an eccentric wheel 40b connected to a motor 64 and a drive rod 42.

[0051] Fig. 10 shows a schematic plan view of a rectangular load carrier 30 with an end effector 10 gripping into the load carrier 30. It can be seen that the gripping tool can be bent similarly to a wrist at the front end effector main body 12, in particular by ± 60°, so that objects 32 which are located in corners of the rectangular load carrier 30 can also be easily gripped, even if they are, for example, lying at an angle against walls of the load carrier 30.

[0052] Fig. 11a shows a further schematic top view of a rectangular load carrier with an end effector gripping into the load carrier and two articles to be removed, namely a bag 32b and a package 32a. With the help of the camera system 54, the picking system detects the exact position and orientation of the articles 32a, 32b and the controller 52 decides that the package 32a should be removed first, specifically with the suction gripper 18a. The end effector 10 is rotated about the Z-axis in a suitable direction. By rotating the gripper carrier 14 about the X-axis, a suction gripper 18a suitable for the package 32a is activated and aligned towards the package 32a within the angular interval assigned to this suction gripper 18a. The package 32a is then removed, whereby the suction gripper 18a can be reoriented during lifting in order to prepare for depositing, e.g. so that the suction gripper 18a points vertically downwards.

[0053] Fig. 11b shows another schematic top view of the load carrier from Fig. 11a with the bag 32b as a remaining article to be removed. The end effector 10 is rotated about the Z-axis in a suitable direction for removing the bag 32b. By rotating the gripper carrier 14 about the X-axis, a suction gripper 18b suitable for the bag 32b is activated and aligned with the bag 32b within the angular interval assigned to this suction gripper 18b. The bag 32b is then removed, whereby the suction gripper 18b can be reoriented during lifting to prepare for placement, e.g., so that the suction gripper 18b points vertically downward. Bezugszeichenliste

[0054] End effector 10 End effector main body 12 Gripper carrier 14 Pivot bearing 16 Bearing body 16a, 16b Suction gripper 18a, 18b Compressed air line 20 Valve mechanism 22 Receptacle 24a, 24b (drive shaft) Slot 26 Suction openings 28a, 28b Load carrier 30 Object (article to be removed in load carrier) 32 Radial bore 34a (gripper carrier) Groove 38a Gear 40a, 40b Drive belt 42 Carrier shaft 44 Radial bores 46a, 46b (inside) Seals 48a, 48b, 48c Order picking robot 50 Controller 52 Camera system 54 Interface 56 Connection 58 Housing 60 Hoses 62 Motor 64

Claims

1. A commissioning robot with a robot arm designed as a hinged arm and an end effector (10) attached via an interface at the end of the robot arm, with an elongated end effector main body (12) as a first bearing body (16a) and a gripper carrier (14) with a main body as a second bearing body (16b), wherein the gripper carrier (14) is rotatably or pivotably arranged on the end effector main body (12) via a rotary or pivot bearing (16) around a rotary or pivot axis that runs transversely to a longitudinal direction of the end effector main body (12), wherein - exactly two suction grippers (18a, 18b) are arranged on the gripper carrier (14) in positions opposite to each other relative to the horizontal rotary or pivot axis, which can be activated or deactivated by a rotation of the gripper carrier (14), wherein a respectively activated suction gripper (18a, 18b) extends beyond a free end of the end effector main body (16a) and is pivotable within a predetermined angular interval assigned to the respectively active suction gripper (18a, 18b); and - a suction or compressed air line (20) for providing the suction or compressed air for the suction grippers (18a, 18b) is guided through the rotary or pivot bearing (16), wherein during rotational movements of the gripper carrier (14) within the predetermined angular interval of relative rotational positions of the bearing bodies (16a, 16b), a connection between the respectively active suction gripper (18a, 18b) and the suction or compressed air line (20) remains established, - wherein the predetermined angular intervals of relative rotational positions of the bearing bodies (16a, 16b) assigned to the different suction grippers (18a, 18b) do not overlap and extend over pivot angles of at least 60°, preferably at least 90°, more preferably at least 120°.

2. A commissioning robot according to claim 1, characterized in that a rotary drive for rotating the gripper carrier (14) is arranged in or on the end effector main body (12).

3. A commissioning robot according to one of the preceding claims, characterized in that the end effector main body (12) is designed for attachment to a robot arm whose end element is rotatable around a longitudinal axis of the end effector main body (12).

4. A commissioning robot according to one of the preceding claims, characterized by a passive valve mechanism (22) for establishing and disconnecting a connection between the suction or compressed air line (20) and one of the suction grippers (18a, 18b), wherein the passive valve mechanism is designed in such a way that when a suction gripper (18a, 18b) is activated by rotating into the angular interval assigned to this suction gripper, the connection between the suction or compressed air line (20) and the activated suction gripper (18a, 18b) is automatically established.

5. A commissioning robot according to claim 4, characterized in that the rotary or pivot bearing comprises two bearing bodies (16a, 16b), wherein one of the bearing bodies (16a, 16b) forms a valve body of the valve mechanism (22) or is mechanically connected to a valve body of the valve mechanism (22) in such a way that each of the suction grippers (18a, 18b) is connected to the suction or compressed air line (20) in the angular interval assigned to it from rotational positions of the bearing bodies (16a, 16b).

6. A commissioning robot according to claim 5, characterized in that the valve mechanism (22) forms a rotary valve with rotary feed-through for the suction or compressed air line(20) formed from the two bearing bodies (16a, 16b).

7. A commissioning robot according to claim 5 or 6, characterized in that the two bearing bodies (16a, 16b) comprise bearing surfaces that are slidingly adjacent to each other with passage openings, which overlap with each other in the predetermined angular intervals and thus establish the connection between each of the suction grippers (18a, 18b) and the suction or compressed air line (20).

8. A commissioning robot according to claim 7, characterized in that the slidingly adjacent bearing surfaces are axial bearing surfaces and one of the passage openings is a circular arc-shaped elongated hole (26), which extends over the angular interval.

9. A commissioning robot according to one of the preceding claims, characterized in that the exactly two suction grippers (18a, 18b) comprise two suction grippers with different characteristics.

10. A commissioning robot according to one of the preceding claims, characterized by a magnetic gripper arranged on the gripper carrier (14).

11. A commissioning system with a commissioning robot (50) according to one of the claims 1 - 10, an image processing device for detecting a position and orientation of an article (32a, 32b) to be gripped in a load carrier and a control unit (52) for controlling the end effector (10), wherein the control unit (52) is designed to set a rotation angle of the end effector main body (12) and of the gripper carrier (14) depending on the detected position and orientation of the article (32a, 32b) and on container walls of the load carrier (30).

12. A commissioning system according to claim 11, characterized in that the image processing device is designed to detect an article type of the article and the control unit (52) is designed to select a suction gripper (18a, 18b) suitable for the article type depending on the detected article type and to rotate it into an active position.

13. A commissioning system according to claim 11 or 12, characterized in that the control unit (52) is designed to use article master data of a recognized article in addition to the detected data of the image processing device for setting the rotation angles of the end effector main body and the gripper carrier and / or for selecting the suitable suction gripper (18a, 18b).