METHOD AND SYSTEM FOR ROBOT-ASSISTED TRANSFER OF GOODS FROM, IN PARTICULAR, TRANSPORT CARRIERS

Description

[0001] The present invention relates to methods for the robot-assisted transfer of goods from transport carriers, in particular transfer of goods between transport carriers or from transport carriers to a removal means, as well as a system and a computer program product for carrying out a method according to the invention.

[0002] US 2014 / 244026 A1 relates to an order fulfillment system with a robotic arm, wherein an arcuate structure is movable within the reach of the robotic arm, a conveyor system brings inventory to the structure and removes a container with retrieved inventory from the structure, and a control system fulfills an order by instructing the conveyor system to bring inventory to the structure, positioning the inventory on the structure relative to the robotic arm, determining a selected inventory item for an order, and instructing the robotic arm to move the selected inventory item from a retrieval location to a container location for the order, and instructing the conveyor system to remove the container from the structure, thus showing the preamble of claim 1.

[0003] The object of the present invention is to improve the transfer of goods between transport carriers.

[0004] This object is achieved by a system having the features of claim 1 and a method having the features of claim 5, respectively. Claim 14 protects a computer program product for implementing a method described herein. The subclaims relate to advantageous developments.

[0005] One aspect of the present invention relates to the transfer of goods between transport carriers. This aspect and the transfer of goods from transport carriers to a removal means are partially described jointly herein. Accordingly, embodiments, features, advantages, etc. explained with reference to one aspect can be implemented or apply equally to an embodiment of the other aspect.

[0006] According to one embodiment of the present invention, a system for transferring goods between transport carriers or goods from transport carriers to a removal means of the system comprises a conveyor which transports or (further) conveys a plurality of at least four, preferably more than four, transport carriers simultaneously or is configured or used for this purpose.

[0007] According to one embodiment of the present invention, the conveyor has a carousel track section, which in one embodiment is horizontal and / or connected or continuous or uninterrupted, on which, according to one embodiment of the present invention, in particular by means of the conveyor, a group of at least four, in one embodiment at least five, transport carriers of the plurality of transport carriers is or will be arranged or which is set up or used for this purpose.

[0008] According to the invention, this carousel track section wraps around a robot which transfers goods between these transport carriers or in a design of transport carriers to the removal means or is set up or used for this purpose, namely in particular viewed in the horizontal direction or relative to a vertical axis of the robot, by or above or to at least 120°, in particular at least 150°, and in such a way that at least 50%, in particular at least 65%, preferably at least 75%, in one embodiment at least 85%, in particular at least 95%, of the carousel track section are within an access area of ​​the robot.

[0009] In one embodiment, the carousel track section wraps around the robot in such a way that that a transport carrier at the end of the carousel track section, in particular the end downstream in the conveying or transport direction of the conveyor, is rotated by a maximum of 240°, in particular a maximum of 210°, and in particular at least 120°, in particular at least 150°, about a vertical axis compared to its position at the beginning of the carousel track section, in particular the upstream in the conveying or transport direction of the conveyor; and / or that the robot can transfer goods from one or more, preferably all, of the transport carriers of the group (respectively) arranged on the carousel track section to the removal means or can transfer goods between all transport carriers of the group (respectively) arranged on the carousel track section, in an embodiment such that the robot can completely or partially transport all the transport carriers of the group (respectively) arranged on the carousel track section.can be fully loaded and / or unloaded and / or the loading surfaces of these transport carriers are each at least partially, in one embodiment at least 75%, preferably at least 90%, within an access area of ​​the robot.

[0010] This allows for a particularly efficient and / or compact system or method for the robot-assisted transfer of goods between transport carriers or for transferring goods from transport carriers to a removal conveyor: by arranging the group on the carousel track section within the robot's reach, the robot can transfer goods between the transport carriers or from transport carriers to the removal conveyor, thereby processing a wide variety of transfer tasks in a single design. At the same time, the looping in one design can reduce the complexity and / or space requirements of the conveyor.

[0011] In one embodiment, the robot has a (robot) arm with at least three, in particular at least five, particularly preferably at least six and in one embodiment at least seven joints, in one embodiment rotary joints, and / or is pivotable horizontally or about a vertical axis of rotation.

[0012] In this way, particularly advantageous kinematics can be realized in one design, flexibility can be increased and / or process time can be reduced.

[0013] In one embodiment, the robot (arm) has at least one gripper for lifting goods from the transport carriers, in one embodiment a mechanical gripper for positive and / or frictional lifting, a pneumatic gripper for lifting by means of negative pressure and / or a magnetic gripper for lifting by means of magnetic force.

[0014] In this way, goods can be transported advantageously, in particular gently, reliably, quickly and / or flexibly.

[0015] The conveyor, in particular its carousel track section and / or its bypass track section explained below, has, in one embodiment, one or more passive or driveless and / or one or more active (driven) rollers on which the transport carriers rest, and / or one or more belts and / or belt segments on which the transport carriers rest. In one embodiment, the conveyor, in particular its carousel track section and / or its bypass track section, thus has at least one roller and / or at least one belt conveyor, and can in particular consist of these.

[0016] For this purpose, an embodiment of the present invention is particularly suitable due to the achievable process times and advantageous handling of transport carriers.

[0017] In one embodiment, the conveyor has a bypass track section, or the bypass track section, on which at least one, in one embodiment at least two, transport carriers of the plurality of transport carriers (in addition to the group arranged on the carousel track section) are or will be arranged at least temporarily, or which is configured or used for this purpose. In one embodiment, at least 50%, in particular at least 65%, preferably at least 75%, in one embodiment at least 85%, in particular at least 95%, of the bypass track section are within the access range of the robot.

[0018] In one version, the bypass track section bridges the carousel track section in terms of transport and logistics.

[0019] In one embodiment, the conveyor has a pair of interfaces by means of which the bypass track section is supplied with transport carriers of the plurality of transport carriers, in a further development alternatively or selectively, the bypass track section or the carousel track section is supplied with conveyed transport carriers of the plurality of transport carriers, or conveyed transport carriers are each alternatively or selectively directed to the bypass track section or the carousel track section or arranged thereon; and / or the bypass track section is supplied with transport carriers from the carousel track section, or which is set up or used for this purpose.

[0020] Additionally or alternatively, transport carriers are removed from the bypass track section by means of the interface pair, in a further development Transport carriers are led from the bypass track section onto the carousel track section; and / or transport carriers are led away from the bypass track section or away from the carousel track section, in an embodiment such that both transport carriers which have been conveyed away from the bypass track section and transported away

[0021] Transport carriers are transported further together from the carousel track section, or the interface pair is set up or used for this purpose.

[0022] In one embodiment, this advantageously increases the number of transport carriers that can be operated by the robot or between which goods can be transferred by the robot, thereby reducing process times. Additionally or alternatively, in one embodiment, transport carriers can be recirculated or returned to the carousel section one or more times and thus further loaded and / or unloaded by the robot. This allows process times to be reduced and / or even more complex transfer orders to be processed.

[0023] In one embodiment, one or both interfaces of the interface pair are switched or re-switched, in particular for this purpose or accordingly.

[0024] In one embodiment, the removal means, in particular its depositing section, comprises one or more passive or driveless and / or one or more active (driven) rollers on which the goods rest, and / or one or more belts and / or belt segments on which the goods rest. In one embodiment, the removal means, in particular its depositing section, thus comprises at least one roller conveyor and / or at least one belt conveyor, and can in particular consist of these.

[0025] An embodiment of the present invention is particularly suitable for this purpose due to the achievable process times and advantageous handling of goods.

[0026] In one embodiment, at least a portion of the storage portion and at least a portion of the carousel track portion are arranged on opposite sides of the robot.

[0027] Additionally or alternatively, the conveyor and removal means, preferably the conveyor and storage section, together encompass the robot, in one embodiment horizontally (seen) and / or completely.

[0028] Additionally or alternatively, the conveyor overlaps the discharge means at at least two spaced-apart locations. In a further development, the minimum distance between a support surface of the discharge means and an underside of the conveyor overlapping it (at each of these locations) is at least equal to the sum of a specified maximum height of the goods to be transferred and a specified safety distance.

[0029] This allows for a particularly efficient and / or compact system or method for the robot-assisted transfer of goods from transport carriers to a removal conveyor in one embodiment: by arranging the group on the carousel track section within the reach of the robot, the robot can transfer goods from one or more, preferably all, transport carriers to the removal conveyor, thereby processing a wide variety of transfer tasks in one embodiment. At the same time, the looping in one embodiment can reduce the complexity and / or space requirements of the conveyor.

[0030] In one embodiment, the system comprises a supply device that supplies the conveyor, in one embodiment sequentially, with transport carriers of the plurality of transport carriers, in one embodiment in a predetermined order, or that is configured or used for this purpose. The order is or is predetermined in one embodiment based on one or more transfer orders, in one embodiment such that transport carriers between which the robot transfers goods, or transport carriers from which the robot transfers goods to the deposit section of the removal means, are or are combined to form a group of transport carriers that follow one another (directly or without further transport carriers arranged in between).

[0031] In one embodiment, this allows transport carriers to be arranged together in the access area of ​​the robot and thus processed by it, which in one embodiment allows the process time to be (further) reduced.

[0032] In one embodiment, transferring goods between transport carriers comprises picking goods from transport carriers to transport carriers. Accordingly, transfer orders can include, in particular, picking orders. One embodiment of the present invention is particularly suitable for this purpose, particularly due to its flexibility and / or speed.

[0033] In one embodiment, one or more of the transport carriers of the plurality of transport carriers (each) have a subdivision for separating goods and / or at least two containers for separating goods.

[0034] This allows (even) more complex transfer orders to be processed in one execution.

[0035] The system according to the invention comprises a system controller, either hardware and / or software, and is configured to carry out a method described herein. For this purpose, the controller controls the robot, the conveyor, the supply device, and / or the switchable interface(s) or is configured accordingly.

[0036] According to one embodiment of the present invention, in a method for transferring, in particular picking, goods between transport carriers or goods from transport carriers to a removal means (by means of) a system described here, a group with, in particular of, at least four transport carriers of the plurality of transport carriers, in one embodiment of an association of at least four (directly orwithout further transport carriers arranged in between) successive transport carriers of the plurality of transport carriers, which is referred to as the first group without restriction of generality, in particular by means of the conveyor, arranged on the carousel track section, so that the robot can transfer goods between all these transport carriers on the carousel track section or goods from one or more, preferably all, of these transport carriers to the removal means, in an embodiment such that the robot can completely load and / or unload all transport carriers of the group arranged on the carousel track section and / or the loading surfaces of these transport carriers are each at least partially, in one embodiment at least 75%, preferably at least 90%, within an access area of ​​the robot.

[0037] In this case, four transport carriers of the group are arranged on the carousel track section, in particular consecutively, in the order of first, second, third, fourth transport carrier, or any other desired sequence. In other words, the designation as first, second, third, or fourth transport carrier does not represent a restriction of generality, in particular not a sequence of these transport carriers, but merely serves to refer to different transport carriers of a group, in particular a conglomerate of transport carriers arranged simultaneously on the curved section, between which the robot transfers goods or from which the robot transfers goods.Thus, in one embodiment, four transport carriers of the (respective) group can be arranged, for example, in the sequence {first transport carrier, second transport carrier, third transport carrier, fourth transport carrier} or the sequence {third transport carrier, fourth transport carrier, first transport carrier, second transport carrier} or a sequence. A sequence mentioned here can be defined, in particular, from downstream to upstream, viewed in the transport or conveying direction of the conveyor or carousel track section, i.e., starting with the most downstream transport carrier.

[0038] According to one embodiment of the present invention, the method comprises the step, repeated one or more times in one embodiment: (A) Delivering at least one item picked up by the first transport carrier to the second transport carrier by means of the robot; or (AA) Delivering at least one item picked up by the first transport carrier to the depositing section of the removal means by means of the robot.

[0039] According to one embodiment of the present invention, the method additionally comprises the step, which is repeated one or more times in one embodiment: (B) delivering at least one item picked up by the first transport carrier to the third transport carrier by means of the robot.

[0040] Thus, in one embodiment, a transfer of goods from one transport carrier (first transport carrier) to at least two other transport carriers (second transport carrier and third transport carrier) is carried out (1 → 2,3).

[0041] In a further development, the method comprises the step, which is repeated one or more times in one embodiment: (E) delivering at least one item of goods picked up by the first transport carrier to the fourth transport carrier by means of the robot.

[0042] Thus, in one embodiment, a transfer of goods from one transport carrier (first transport carrier) to at least three other transport carriers (second, third and fourth transport carriers) is carried out (1 → 2,3,4).

[0043] Additionally or alternatively, the method according to an embodiment of the present invention comprises the step, repeated one or more times in one embodiment: (C) delivering at least one item picked up by the third transport carrier to the second transport carrier by means of the robot.

[0044] Thus, in one embodiment, a transfer of goods from at least two transport carriers (first transport carrier and third transport carrier) to at least one other transport carrier (second transport carrier) is carried out (1,3 → 2).

[0045] In a further development, the method comprises the step, which is repeated one or more times in one embodiment: (F) delivering at least one item of goods picked up by the fourth transport carrier to the second transport carrier by means of the robot.

[0046] Thus, in one embodiment, a transfer of goods from at least three transport carriers (first, third and fourth transport carrier) to at least one other transport carrier (second transport carrier) is carried out (1,3,4 → 2).

[0047] Additionally or alternatively, the method according to an embodiment of the present invention comprises the step, repeated one or more times in one embodiment: (D) delivering at least one item picked up by the third transport carrier to the fourth transport carrier by means of the robot.

[0048] Thus, in one embodiment, a transfer of goods is carried out between the two transport carriers of at least two pairs of transport carriers ({first transport carrier, second transport carrier} and {third transport carrier, fourth transport carrier}) (1 → 2; 3 → 4).

[0049] In one embodiment, the method comprises the step, repeated one or more times in one embodiment: (G) delivering at least one item picked up by the first, second, third or fourth transport carrier to a transport carrier arranged on the bypass track section by means of the robot.

[0050] In a further development, the method comprises the steps, which are repeated one or more times in one embodiment: (G') delivering at least one item picked up by the first, second, third or fourth transport carrier to a transport carrier arranged on the bypass track section and at least one item picked up by the first, second, third or fourth transport carrier to another transport carrier arranged on the bypass track section by means of the robot.

[0051] Additionally or alternatively, in one embodiment, the method comprises the step, repeated one or more times in one embodiment: (H) delivering at least one item of goods picked up by a transport carrier arranged on the bypass track section to another transport carrier arranged on the bypass track section or to the first, second, third or fourth transport carrier by means of the robot.

[0052] In a further development, the method comprises the steps, which are repeated one or more times in one embodiment: (H') delivering at least one item of goods picked up by a transport carrier arranged on the bypass track section to the first, second, third or fourth transport carrier and at least one item of goods picked up by another transport carrier arranged on the bypass track section to the first, second, third or fourth transport carrier by means of the robot.

[0053] Thus, in one embodiment, a transfer of goods between transport carriers of the group and transport carriers arranged on the bypass track section and / or a transfer of goods between transport carriers of the transport carriers arranged on the bypass track section is carried out.

[0054] According to one embodiment of the present invention, the method comprises, in addition to step (AA), the step, repeated one or more times in one embodiment: (BB) Delivering at least one item of goods picked up by the second transport carrier to the deposit section of the removal means by means of the robot; the step, repeated one or more times in one embodiment: (CC) Delivering at least one item of goods picked up by the third transport carrier to the deposit section of the removal means by means of the robot; and / or the step, repeated one or more times in one embodiment: (DD) Delivering at least one item picked up by the fourth transport carrier to the deposit section of the removal means by means of the robot.

[0055] One or more of steps (A), (B), (C), (D), (E), (F), (G) or (G') and (H) or (H') or (AA), (BB), (CC) and / or (DD) can each be repeated once or several times and / or carried out in any order, in particular also carried out several times in different orders. In one embodiment, the first group is arranged on the carousel track section during step (A), which is repeated once or several times in one embodiment, step (B), which is repeated once or several times in one embodiment, step (C), which is repeated once or several times in one embodiment, step (D), which is repeated once or several times in one embodiment, step (E), which is repeated once or several times in one embodiment, step (F), which is repeated once or several times in one embodiment, step (G) or (G'), which is repeated once or several times in one embodiment, and / or step (H) or (H'), which is repeated once or several times in one embodiment.The same applies analogously to an execution with one or more of the steps (AA), (BB), (CC), (DD).

[0056] As a result, a wide variety of picking orders can be processed efficiently by means of the robot in one embodiment, in particular at least two single-track picking orders (1 → 2; 3 → 4) or one multi-track picking order with several target and / or source transport carriers (1 - 2,3; 1 → 2,3,4; 1,3 → 2; 1,3,4 → 2).

[0057] In one embodiment, in particular by means of the conveyor and / or after one or more of steps (A), (B), (C), (D), (E), (F), (G) or (G') and (H) or (H') or one or more of steps (AA), (BB), (CC), (DD) or subsequently, in one embodiment immediately subsequently, a further group with, in particular, at least four transport carriers of the plurality of transport carriers, in one embodiment an association of at least four (directly or without further transport carriers arranged in between) successive transport carriers of the plurality of transport carriers, is arranged on the carousel track section instead of the first group, or the first group on the carousel track section is replaced by the further group, so that the robot can then transport goods between all of these transport carriers of the further group on the carousel track section orGoods from one or more, preferably all, of these transport carriers can be transferred to the removal means, in an embodiment such that the robot can completely load and / or unload all transport carriers of the further group arranged on the carousel track section and / or the loading surfaces of these transport carriers are each at least partially, in one embodiment at least 75%, preferably at least 90%, within an access area of ​​the robot.

[0058] In this case, four transport carriers of the further group are arranged on the carousel track section, in particular consecutively, in the order of first, second, third, fourth transport carrier or any other order.

[0059] In a further development of this embodiment, the method comprises the step, repeated one or more times in one embodiment: (a) Delivering at least one item picked up by the first transport carrier of the further group to the second transport carrier of the further group by means of the robot.

[0060] In one embodiment of this further development, the method additionally comprises the step, which is repeated one or more times in one embodiment: (b) transferring at least one item of goods picked up by the first transport carrier of the further group to the third transport carrier of the further group by means of the robot.

[0061] In one embodiment, the method comprises the step, repeated one or more times in one embodiment: (e) delivering at least one item of goods picked up by the first transport carrier of the further group to the fourth transport carrier of the further group by means of the robot.

[0062] Additionally or alternatively, in one embodiment of the further development, the method comprises the step, repeated one or more times in one embodiment: (c) delivering at least one item of goods picked up by the third transport carrier of the further group to the second transport carrier of the further group by means of the robot.

[0063] In one embodiment, the method comprises the step, repeated one or more times in one embodiment: (f) delivering at least one item of goods picked up by the fourth transport carrier of the further group to the second transport carrier of the further group by means of the robot.

[0064] Additionally or alternatively, in one embodiment of the further development, the method comprises the step, repeated one or more times in one embodiment: (d) delivering at least one item of goods picked up by the third transport carrier of the further group to the fourth transport carrier of the further group by means of the robot.

[0065] In one embodiment, the method comprises the step, repeated one or more times in one embodiment: (g) delivering at least one item picked up by the first, second, third or fourth transport carrier of the further group to a transport carrier arranged on the bypass track section by means of the robot.

[0066] Additionally or alternatively, in one embodiment, the method comprises the step, repeated one or more times in one embodiment: (h) delivering at least one item of goods picked up by a transport carrier arranged on the bypass track section to another transport carrier arranged on the bypass track section or to the first, second, third or fourth transport carrier of the further group by means of the robot.

[0067] In a further development of the embodiment in which a further group is arranged on the carousel track section, the method comprises, in particular in addition to step (AA), (BB), (CC) and / or (DD), the step, repeated one or more times in one embodiment: (aa) depositing at least one item of goods picked up by the first transport carrier of this further group onto the deposit section of the removal means by means of the robot.

[0068] In one embodiment, the method comprises, in addition to step (aa), the step, repeated one or more times in one embodiment: (bb) depositing at least one item of goods picked up by the second transport carrier of this further group onto the deposit section of the removal means by means of the robot; the step, repeated one or more times in one embodiment: (cc) depositing at least one item of goods picked up by the third transport carrier of this further group onto the deposit section of the removal means by means of the robot; and / or the step, repeated one or more times in one embodiment: (dd) depositing at least one item picked up by the fourth transport carrier (3) of this further group onto the deposit section of the removal means by means of the robot. One or more of steps (a), (b), (c), (d), (e), (f), (g) and (h) or (aa), (bb), (cc), (dd) can each be repeated one or more times and / or carried out in any order, in particular also carried out multiple times in different orders.In one embodiment, the further group is arranged on the carousel track section during step (a), which is repeated once or multiple times in one embodiment, step (b), which is repeated once or multiple times in one embodiment, step (c), which is repeated once or multiple times in one embodiment, step (d), which is repeated once or multiple times in one embodiment, step (e), which is repeated once or multiple times in one embodiment, step (f), which is repeated once or multiple times in one embodiment, step (g), which is repeated once or multiple times in one embodiment, and / or step (h), which is repeated once or multiple times in one embodiment. The same applies analogously to an embodiment with one or more of steps (aa), (bb), (cc), (dd).

[0069] This means that a wide variety of picking orders can be processed efficiently one after the other using the robot.

[0070] In one embodiment, the first, second, third and fourth transport carriers of the first group and the first, second, third and fourth transport carriers of the further group are arranged in different orders.

[0071] As a result, similar picking orders, for example (1 → 2; 3 → 4), (1 → 2,3), (1 → 2,3,4), (1,3 → 2), (1,3,4 → 2) or the like, can be carried out in different constellations in one embodiment. For example, if the first group has the sequence {first transport carrier, second transport carrier, third transport carrier, fourth transport carrier} and the further group has the sequence {fourth transport carrier, third transport carrier, first transport carrier, second transport carrier}, the picking order (1 → 2,3) for the first group can comprise picking from the most downstream transport carrier to two more upstream transport carriers, and for the further group from one transport carrier to two adjacent transport carriers.

[0072] Additionally or alternatively, in one embodiment, at least one transport carrier of the first group and at least one transport carrier of the further group are the same transport carrier or identical. In other words, in one embodiment, the same transport carrier is used in at least two groups, in one further development as a source carrier from which goods are picked up by the robot, or as a target carrier to which goods are delivered by the robot.

[0073] This allows goods to be transferred, in particular picked, particularly effectively and / or to or from even more transport vehicles.

[0074] Additionally or alternatively, in one embodiment, the first group and the further group each have at least one of their own transport carriers that is not used or not loaded and / or unloaded, in particular not present, in the other group, in particular therefore a separate first transport carrier, separate second transport carrier, separate third transport carrier and / or separate fourth transport carrier that is not used or not loaded and / or unloaded, in particular not present, in the other group.

[0075] This allows different transfer or picking orders to be processed sequentially in one execution.

[0076] In one embodiment, a mixed form is provided in which one or more transport carriers in both groups are identical or other transport carriers are their own transport carriers that are not used or present in the other group, for example to load one or more transport carriers first with goods from transport carriers of one group and then with goods from transport carriers of the other group or, conversely, to distribute goods from the same transport carrier to transport carriers in both groups.

[0077] Additionally or alternatively, in particular the first and further groups may each have only their own transport carriers or no transport carrier may be used or loaded and / or unloaded in both the first and second groups, in particular may be present.

[0078] As already explained, in one embodiment, at least one item picked up by another transport carrier arranged on the bypass track section is delivered by means of the robot to a transport carrier arranged on the bypass track section.

[0079] This is done in one execution, (still) while the first group is arranged on the carousel track section.

[0080] Additionally or alternatively, in one embodiment, at least one item, picked up by another transport carrier arranged on the bypass track section, is delivered by means of the robot to a transport carrier arranged on the bypass track section, while the further group is arranged on the carousel track section.

[0081] Additionally or alternatively, in one embodiment, at least one item picked up by another transport carrier arranged on the bypass track section is delivered by means of the robot to a transport carrier arranged on the bypass track section, while the further group is arranged on the carousel track section instead of the first group.

[0082] In one embodiment, arranging the further group instead of the first group on the carousel track section comprises, and can in particular consist of, conveying the first group away from the carousel track section and / or conveying or transporting the further group onto the carousel track section. Accordingly, in one embodiment, by means of the robot at least one item of goods, in one embodiment picked up by another transport carrier arranged on the bypass track section, is delivered to a transport carrier arranged on the bypass track section, while the first group is conveyed away from or transported by the carousel track section, and / or at least one item of goods, in one embodiment picked up by another transport carrier arranged on the bypass track section, is delivered to a transport carrier arranged on the bypass track section, while the further group is conveyed or transported onto the carousel track section.is transported.

[0083] Additionally or alternatively, in one embodiment, one or more transport carriers are arranged on the bypass track section and / or one or more transport carriers are conveyed or removed from the bypass track section, while at least one item of goods is delivered to a transport carrier arranged on the carousel track section by means of the robot, in particular during one or more of the steps (A), (B), (C), (D), (E), (F), (G) or (G') and (H) or (H') and / or during one or more of the steps (a), (b), (c), (d), (e), (f), (g) and (h).

[0084] Thus, in one embodiment, goods are transferred between transport carriers of the first group and / or goods are transferred between transport carriers of the further group while (respectively) transport carriers are arranged on the bypass track section and / or transport carriers are conveyed away from it, and / or goods are delivered to transport carriers arranged on the bypass track section, in one embodiment, goods are transferred between transport carriers arranged on the bypass track section while transport carriers of the first group are conveyed away from the carousel track section and / or transport carriers of the further group are conveyed onto the carousel track section.

[0085] This allows the process time to be shortened or the robot to be used more effectively in one version.

[0086] In one embodiment, the robot pivots horizontally between picking up and delivering at least one item.

[0087] This can reduce process time and / or space requirements in one embodiment.

[0088] In one embodiment, a transport direction of the carousel track section and / or a transport direction of the bypass track section is reversed once or several times, in particular for arranging the first group and / or for arranging the further group.

[0089] In one embodiment, this allows transport carriers to be advantageously recirculated.

[0090] In one embodiment, a longer vertical surface or longitudinal side of one or more of the, preferably all, transport carriers of the first group and / or the second group are arranged upstream in the transport direction ("long side leading").

[0091] This allows more transport carriers to be arranged on the carousel track section in one design.

[0092] In one embodiment, a shorter vertical surface or end face of one or more of the, preferably all, transport carriers of the first group and / or the second group are arranged upstream in the transport direction ("short side leading").

[0093] This allows the carousel track section to be built narrower in one version.

[0094] In one embodiment, the first group remains stationary while the robot picks up at least one item from this group and / or while the robot delivers at least one item to this group or the storage section. Additionally or alternatively, in one embodiment, the further group remains stationary while the robot picks up at least one item from this group and / or while the robot delivers at least one item to this group or the storage section.

[0095] This allows a product to be handled more precisely and / or gently in one design.

[0096] In one embodiment, the first group is moved while the robot picks up at least one item from this group and / or while the robot delivers at least one item to this group or the storage section. Additionally or alternatively, in one embodiment, the further group is moved while the robot picks up at least one item from this group and / or while the robot delivers at least one item to this group or the storage section.

[0097] In one embodiment, one or more of the goods are deposited onto the deposit section of the removal means by means of the robot while the removal means is conveying (away).

[0098] This can reduce the process time in one execution.

[0099] In one embodiment, the transport carriers of the first group and / or the further group are or will be assembled (each) on the basis of one or more transfer orders, in a further training by the supply facility and / or successively to form an association.

[0100] In further training, therefore, for steps (A), (B) and (a), (b) three transport vehicles are placed in the first or further group, in which goods are to be transferred from one transport vehicle (first transport vehicle) to the two other transport vehicles (second, third transport vehicle); for steps (A), (B) and (E) and (a), (b) and (e) four transport vehicles are placed in the first or further group, in which goods are to be transferred from one transport vehicle (first transport vehicle) to the three other transport vehicles (second, third and fourth transport vehicle); for steps (A), (C) and (a), (c) three transport vehicles are placed in the first or further group, in which goods are to be transferred from two of the transport vehicles (first, third transport vehicle) to the other transport vehicle (second transport vehicle); for steps (A), (C) and (F) and (a), (c) four transport vehicles are placed in the first or further group.placed in a further group, in which goods are to be transferred from three of the transport modes (first, third and fourth transport mode) to the other transport mode (second transport mode); and / or for steps (A), (D) or (a), (d) four transport modes are placed in the first or further group, in which goods are to be transferred between two transport modes (first, second transport mode) and goods between two other transport modes (third, fourth transport mode).

[0101] A means within the meaning of the present invention can be designed in hardware and / or software, in particular a processing unit, in particular a microprocessor unit (CPU), graphics card (GPU) or the like, which is preferably connected to a memory and / or bus system in terms of data or signals, and / or can have one or more programs or program modules. The processing unit can be designed to execute instructions implemented as a program stored in a memory system, to detect input signals from a data bus and / or to output signals to a data bus. A memory system can have one or more, in particular different, storage media, in particular optical, magnetic, solid-state and / or other non-volatile media. The program can be designed in such a way that it embodies the methods described here oris capable of executing, so that the processing unit can execute the steps of such methods and thus in particular can operate or control the system, in particular the robot, the conveyor, the supply device and / or the switchable interface(s). In one embodiment, a computer program product can have, in particular be, a storage medium, in particular a non-volatile one, for storing a program or with a program stored thereon, wherein executing this program causes a system or a controller, in particular a computer, to execute a method described here or one or more of its steps.

[0102] In one embodiment, one or more, in particular all, steps of the method are carried out completely or partially automatically, in particular by the system or its control system.

[0103] In one embodiment, the system has the majority of empty transport carriers, in a further development the majority of transport carriers loaded with goods. In one embodiment, two or more of the transport carriers of the plurality of transport carriers which are unloaded of goods or loaded with goods by means of the robot in steps (A), (B), (C), (D), (E), (F), (G) or (G') and (H) or (H') or (a), (b), (c), (d), (e), (f), (g) and / or (h) or (AA), (BB), (CC), (DD), (aa), (bb), (cc), (dd) are identical in construction.

[0104] In one embodiment, a loading area of ​​the transport carriers of the plurality of transport carriers is at least 100 cm² and / or at most 25 m², in one embodiment at most 10 m². The present invention is particularly suitable for this purpose, without being limited thereto.

[0105] In one version, the access area of ​​the robot is the area within which the robot can pick up and deliver goods.

[0106] Further advantages and features emerge from the subclaims and the exemplary embodiments. The following shows, partly schematically: Fig. 1: a system according to an embodiment of the present invention; Fig. 2: a method according to an embodiment of the present invention; Fig. 3: a system or method according to a further embodiment of the present invention; Fig. 4: a system or method according to a further embodiment of the present invention in Fig. 1 , 3 corresponding top view; and Fig. 5 a side view of the system of Fig. 4 .

[0107] Fig. 1 shows a system according to an embodiment of the present invention.

[0108] It comprises a plurality of transport carriers 1-8, a robot 20 for transferring goods between the transport carriers and a conveyor 10 for simultaneously transporting transport carriers, which has a carousel track section 11 for arranging a group with at least four of the transport carriers, which carousel track section 11 surrounds the robot 20 in the horizontal direction by or over or to approximately 180° and in such a way that at least 50% of the carousel track section lies in an access area of ​​the robot indicated by a dash-double-dotted line, the robot 20 can transfer goods between all transport carriers on the carousel track section 11, and a transport carrier at the end of the carousel track section 11 by approximately 180° around a vertical axis (perpendicular to the plane of the drawing of the Fig. 1 ) is twisted compared to his pose at the beginning of the carousel section.

[0109] The conveyor has a bypass track section 12 bridging the carousel track section 11 for arranging two of the transport carriers such that the robot 20 can transfer goods between transport carriers of the group and the transport carriers arranged on the bypass track section, wherein again at least 50% of the bypass track section lies within the access area of ​​the robot.

[0110] The conveyor also has a pair of interfaces 13, 14 for feeding the bypass track section with transport carriers of the plurality of transport carriers and for removing transport carriers from the bypass track section.

[0111] In addition, the system comprises a supply device 30 for supplying the conveyor 10 with transport carriers and a controller 40 for carrying out a method according to an embodiment of the present invention.

[0112] Fig. 2 shows a method according to an embodiment of the present invention.

[0113] In a step S10, the four transport carriers 1-4 are arranged on the carousel track section 11 (cf. Fig. 1 ).

[0114] The robot then transfers goods from one or more of these transport carriers 1-4 to the other of these transport carriers 1-4, for example in a step S20 goods from the first transport carrier 1 to the second transport carrier 2, in a step S30 goods from the first transport carrier 1 to the third transport carrier 3 and in a step S40 goods from the first transport carrier 1 to the fourth transport carrier 4. It can also repeat one or more of the steps S20-S40 once or more, whereby the step sequence can vary.

[0115] Alternatively, the robot can, for example, transfer goods from the first transport carrier 1 to the second transport carrier 2 in step S20 and from the third transport carrier 3 to the fourth transport carrier 4 in step S30 (and step S40 can be omitted). Here, too, steps S20 and / or S30 can be repeated one or more times, whereby the sequence of steps can vary.

[0116] Similarly, the robot can, for example, also transfer goods from the first transport carrier 1 to the second transport carrier 2 in step S20, from the third transport carrier 3 to the second transport carrier 2 in step S30, and from the fourth transport carrier 4 to the second transport carrier 2 in step S40. Here, too, one or more of steps S20-S40 can be repeated one or more times, whereby the sequence of steps can vary.

[0117] Preferably, while one or more of these steps S20-S30 / S40 are already being carried out by the robot, the transport carriers 5, 6 are arranged on the bypass track section 12 by switching the interface 13 accordingly.

[0118] Then, the robot can additionally transfer goods from one or more of the transport carriers 1-4 to one or both transport carriers 5, 6 and / or goods from one or both transport carriers 5, 6 to one or more of the transport carriers 1-4 and / or goods between the two transport carriers 5, 6 (step S50).

[0119] If necessary, while the robot continues to transfer goods between the two transport carriers 5, 6, the transport carriers 1-4 can be removed from the carousel track section 11.

[0120] Then, new transport carriers are conveyed onto the carousel track section 11 and - if necessary after the transport carriers 5, 6 have been conveyed away - also onto the bypass track section 12 and the steps described above are carried out again.

[0121] The first, second, third and fourth transport carriers of this further group can be arranged in a different order on the carousel track section 11 and / or other transfers can be carried out in steps S20, S30 and optionally S40 and / or S50, for example a picking from one to three, four or five transport carriers and then a picking from three, four or five to one transport carrier or a picking between the two transport carriers of several pairs or the like.

[0122] Likewise, one or more of the transport carriers 1-6 can be further loaded or unloaded by the robot 20 and, for this purpose, recirculated by appropriately switching the interfaces 13, 14 and, if necessary, reversing the conveying or transport direction. For example, the transport carrier 1 can be returned one or more times via the bypass track section 12 to the carousel track section 11 and further loaded or unloaded there by the robot 20.

[0123] Fig. 3 shows a system or method according to a further embodiment of the present invention. Corresponding features are identified by identical reference numerals, so that reference is made to the above description and only differences are discussed below.

[0124] When executing the Fig. 3 Longer or longitudinal sides L of the transport carriers are arranged upstream in the transport direction, when designing the Fig. 1 whereas shorter or front sides S.

[0125] In addition, the execution of the Fig. 3 the bypass railway section is not available.

[0126] When executing the Fig. 3 Five transport carriers 1-5 are arranged in the carousel track section 11.

[0127] Fig. 4, 5 show in plan view from above ( Fig. 4 ) or side view ( Fig. 5 ; Side view from the left in Fig. 4 ) a system or method according to a further embodiment of the present invention. Corresponding features are identified by identical reference numerals, so that reference is made to the above description and only differences are discussed below.

[0128] When executing the Fig. 4, 5 The robot transfers 20 into Fig. 4, 5 The goods 200 indicated by hatching are not transferred between the transport carriers, but from the transport carriers to a storage section 100.1 of a removal means 100.

[0129] The filing section 100.1 and a Fig. 4 The upper section of the carousel track section 11 is arranged on opposite sides of the robot 20, and the conveyor 10 and the removal means 100 together completely surround the robot 20.

[0130] As shown in the side view of the Fig. 5 visible and dashed in Fig. 4 As indicated, the conveyor 10 overlaps the discharge means 100 at two points 100A, 100B.

[0131] The distance h between a support surface of the removal means 100 and an underside of the conveyor 10 overlapping this at these points 100A, 100B is in each case at least equal to the sum of a predetermined maximum height h 200max of the goods to be transferred and a predetermined safety distance s.

[0132] For the transfer of goods 200, a group of at least four transport carriers is arranged on the carousel track section 11 as described above.

[0133] Then, the robot 20, possibly repeatedly and / or in a different order, delivers at least one item 200 picked up by one of the transport carriers to the deposit section 100.1 of the removal means 100, in one embodiment while the removal means 100 is conveying (away).

[0134] Subsequently, as described above, a further group with at least four transport carriers is arranged on the carousel track section 11 and the robot 20 again, if necessary repeatedly and / or in a different order, releases at least one item 200 picked up by one of these transport carriers onto the deposit section 100.1 of the removal means 100.

[0135] Although exemplary embodiments have been explained in the preceding description, it should be noted that a large number of modifications are possible.

[0136] In one embodiment, the transport carriers can have a subdivision and / or at least two containers for separating goods (not shown).

[0137] Furthermore, it should be noted that the exemplary embodiments are merely examples and are not intended to limit the scope of protection, applications, or structure in any way. Rather, the preceding description provides the skilled person with a guide for implementing at least one exemplary embodiment, whereby various modifications, particularly with regard to the function and arrangement of the described components, may be made without departing from the scope of protection as defined by the claims. Bezugszeichenliste

[0138] 1First transport carrier 2Second transport carrier 3Third transport carrier 4Fourth transport carrier 5-8Transport carrier 10Conveyor 11Carousel track section 12Bypass track section 13, 14Interface 20Robot 30Supply device 40Control 100Discharge device 100.1Deposit section 100A, 100BPosition 200Good hDistance discharge device-support surface conveyor-underside h 200Max maximum goods height LLongitudinal side SSFront side sSafety distance

Claims

1. A system for transferring items between transport carriers, wherein the system comprises a control unit (40) of the system and a conveyor (10) for simultaneously transporting a plurality of at least four transport carriers (1-8) of the system, which conveyor (10) comprises a carousel track portion (11) for arranging a group of at least four transport carriers (1-4; 1-5) of the plurality of transport carriers, which carousel track portion (11) a robot (20) for transferring items between the transport carriers in such a way that at least 50% of the carousel track portion lies in a range of access of the robot, characterised in that the carousel track portion wraps around the robot by no more than 240°.

2. The system according to claim 1, characterised in that the carousel track portion (11) wraps around the robot (20) by at least 120° and / or in that the conveyor has a bypass track portion (12) for arranging at least one transport carrier, in particular at least two transport carriers, of the plurality of transport carriers, wherein at least 50% of the bypass track portion are located within the range of access of the robot, and a pair of interfaces (13, 14) for feeding the bypass track portion with transport carriers of the plurality of transport carriers, in particular for alternatively feeding the bypass track portion or the carousel track portion with transport carriers of the plurality of transport carriers that are being conveyed in order to be added, and / or for feeding the bypass track portion with transport carriers from the carousel track portion, and for removing transport carriers from the bypass track portion, in particular onto the carousel track portion and / or away from the carousel track portion.

3. The system according to any one of the preceding claims, characterised by a supply device (30) for supplying the conveyor with transport carriers of the plurality of transport carriers.

4. The system according to any one of the preceding claims, characterised in that at least one of the transport carriers of the plurality of transport carriers has a subdivision and / or at least two containers for the separation of items.

5. A method of transferring items between transport carriers by means of a system according to any one of the preceding claims, wherein a first group of at least four transport carriers (1-4) of the plurality of transport carriers is arranged (S10) on the carousel track portion (11), wherein four transport carriers of the first group are arranged on the carousel track portion, in particular successively, in the order of a first, second, third, fourth transport carrier, or in a different order wherein the method comprises the following step, in particular the following, repeated step: - transferring (S20) at least one item carried by the first transport carrier (1) to the second transport carrier (2) by means of the robot (20); as well as at least one of the following steps, in particular at least one of the following, repeated steps: - transferring (S30) at least one item carried by the first transport carrier (1) to the third transport carrier (3) by means of the robot; - transferring (S30) at least one item carried by the third transport carrier (3) to the second transport carrier (2) by means of the robot; and / or - transferring (S30) at least one item carried by the third transport carrier (3) to the fourth transport carrier (4) by means of the robot.

6. The method according to the preceding claim, characterised by at least one of the following steps, in particular at least one of the following, repeated steps: - transferring (S40) at least one item carried by the first transport carrier (1) to the fourth transport carrier (4) by means of the robot; - transferring (S40) at least one item carried by the fourth transport carrier to the second transport carrier by means of the robot; - transferring (S50) at least one item carried by the first, second, third or fourth transport carrier to a transport carrier which is arranged on the bypass track portion by means of the robot; and / or - transferring (S50) at least one item carried by a transport carrier which is arranged on the bypass track portion to another transport carrier which is arranged on the bypass track portion, or to the first, second, third or fourth transport carrier by means of the robot.

7. The method according to any one of the preceding claims, wherein a further group of at least four transport carriers of the plurality of transport carriers is arranged (S10) on the carousel track portion instead of the first group, wherein four transport carriers of this further group are arranged on the carousel track portion, in particular successively, in the order of a first, second, third, fourth transport carrier, or in a different order, wherein the method comprises the following step, in particular the following, repeated step: - transferring (S20) at least one item carried by the first transport carrier of this further group to the second transport carrier of this further group by means of the robot (20); as well as at least one of the following steps, in particular at least one of the following, repeated steps: - transferring (S30) at least one item carried by the first transport carrier of this further group to the third transport carrier of this further group by means of the robot; - transferring (S30) at least one item carried by the third transport carrier of this further group to the second transport carrier of this further group by means of the robot; and / or - transferring (S30) at least one item carried by the third transport carrier of this further group to the fourth transport carrier of this further group by means of the robot.

8. The method according to any one of the preceding claims, wherein the first, second, third and fourth transport carriers of the first group and the first, second, third and fourth transport carriers of the further group are arranged in a different order; and / or at least one transport carrier of the first group and at least one transport carrier of the further group is the same transport carrier; and / or the method comprises at least one of the following steps, in particular at least one of the following, repeated steps: - transferring (S40) at least one item carried by the first transport carrier of the further group to the fourth transport carrier of the further group by means of the robot; - transferring (S40) at least one item carried by the fourth transport carrier of the further group to the second transport carrier of the further group by means of the robot; - transferring (S50) at least one item carried by the first, second, third or fourth transport carrier of the further group to a transport carrier which is arranged on the bypass track portion by means of the robot; and / or - transferring (S50) at least one item carried by a transport carrier which is arranged on the bypass track portion to another transport carrier which is arranged on the bypass track portion or to the first, second, third or fourth transport carrier of the further group by means of the robot.

9. The method according to any one of the preceding claims, characterised by at least one of the following steps: - transferring (S50) at least one item, in particular at least one item which is carried by another transport carrier which is arranged on the bypass track portion, to a transport carrier which is arranged on the bypass track portion while the first group is arranged on the carousel track portion or while the further group is arranged on the carousel track portion or while the further group is being arranged on the carousel track portion instead of the first group; and / or - arranging and / or removing at least one transport carrier respectively on or from the bypass track portion while at least one item is being transferred, by means of the robot, to a transport carrier which is arranged on the carousel track portion.

10. The method according to any one of the preceding claims, characterised in that a transport direction of the carousel track portion and / or of the bypass track portion is reversed once or several times and / or in that the robot is pivoted horizontally between picking up and releasing at least one item.

11. The method according to any one of the preceding claims, characterised in that a longitudinal side (L) of at least one transport carrier of the first group and / or of the further group is arranged upstream with respect to the transport direction and / or in that the first or the further group is stationary while at least one item is being picked up from this group by means of the robot and / or while at least one item is being transferred to this group by means of the robot.

12. The method according to any one of the preceding claims, characterised in that an end face (S) of at least one transport carrier of the first group and / or of the further group is arranged upstream with respect to the transport direction and / or in that the first or the further group is moved while at least one item is being picked up from this group by means of the robot and / or while at least one item is being transferred to this group by means of the robot, and / or in that at least one item is being transferred to the receiving portion of the removing means by means of the robot while the removing means is carrying out a conveying action.

13. The method according to any one of the preceding claims, characterised in that, on the basis of at least one transfer order, the transport carriers of the first group and / or of the further group are assembled, in particular by the supply device (30) and / or successively in order to form a composite assembly.

14. A computer program product comprising a program code which is stored on a computer readable medium and which causes a system according to any one of claims 1-4 to carry out a method according to any one of the preceding claims 5-13.