METHOD FOR TRANSFERRING GOODS WITH THE AID OF A ROBOT WITH IMPROVED EFFICIENCY AND STORAGE AND PICKING SYSTEM FOR THIS PURPOSE

Description

[0001] The invention relates to a method for operating a robot for transferring different goods in a storage and order picking system, in which a) Gripping types for the various goods are recorded on an electronic control system, the gripping type indicating which gripper, according to which gripper type, enables the gripping of the respective goods, b) Grippers of different gripper types are provided to the robot, c) A gripper from the different gripper types is selected by the electronic control system depending on the gripping type of the goods to be transferred, d) The selected gripper is coupled to a robot head of the robot or the selected gripper is activated on a robot head of the robot, e) The goods are provided at a first position in a working area of ​​the robot, and f) The goods are gripped at the first position with the selected gripper on the robot and delivered at a second position in the working area of ​​the robot.

[0002] The invention also relates to a storage and order picking system which comprising a robot for transferring goods, comprising a robot head and at least two different grippers alternately attachable to the robot head or at least two different grippers arranged on the robot head and alternately activatable, comprising an electronic control system configured to detect gripping types for the various goods, wherein the gripping type indicates which gripper, according to which gripper type, enables the gripping of the respective goods, and which is further configured to select a gripper provided on the robot from the different gripper types depending on the gripping type of the goods to be transferred and to trigger coupling of the selected gripper with the robot head or activation of the selected gripper on the robot head, and comprising a conveyor system configured toTo transport goods to a first position within the robot's operating area, wherein the robot is configured to grasp the goods with the selected gripper at the first position within the robot's operating area and to place the goods at a second position within the robot's operating area.

[0003] Such a process and such a storage and order picking system are fundamentally known from the prior art. For example, they can be used for picking and / or sorting goods. The wide variety of goods means that different grippers must be used on the robot to manipulate the goods safely and at high speed. However, changing the gripper leads to an undesirable standstill in the flow of goods, as no goods can be manipulated during the changeover.

[0004] US patent 2020 / 130936 A1 discloses a storage system with various configurations for an identification and planning system and a procedure for order processing.

[0005] KT Andrzejewski et al., "Optimisation process for robotic assembly of electronic components," The International Journal of Advanced Manufacturing Technology, Vol. 99, pages 2523-2535, addresses the development of an efficient placement system for printed circuit boards. This involves solving two distinct but interconnected problems. First, the component types must be assigned to feeder positions with reduced spacing. Second, the sequence of individual components on the circuit boards must be determined. Each component ID was assigned a tool number corresponding to the end effector suitable for a pick-and-place operation. The end effector changeover time negatively impacts the cycle time. Therefore, minimizing tool changes for different components is essential to increase productivity.To account for this limitation, an algorithm groups the components based on their tool number and searches for optimal sequencing solutions within each group.

[0006] EP 0 331 478 A2 generally refers to manufacturing systems in which objects are sorted according to gripper type and picked up in groups.

[0007] One object of the invention is therefore to provide an improved method and an improved storage and order picking system. In particular, interruptions in the flow of goods should be kept to a minimum.

[0008] The problem of the invention is solved by a method according to claim 1 or claim 6.

[0009] Furthermore, the object of the invention is solved with a storage and order picking system according to claim 7 or claim 9.

[0010] By forming product groups, the number of gripper changes can be reduced to a minimum, even with an extremely wide product range and a correspondingly large number of different products. The higher the number of products in a product group, the less frequently a gripper change is necessary.

[0011] The term "gripper" is to be interpreted broadly within the scope of the invention and includes not only gripping tools with gripping fingers or pincer-like gripping tools, but in particular also suction grippers which grip or pick up goods using a vacuum.

[0012] A gripper can therefore, for example, a force-locking gripper, such as a suction gripper, in particular a vacuum suction gripper with one suction cup or a vacuum suction gripper with a plurality of suction cups, a form-locking gripper, such as a finger gripper, in particular a finger gripper with two gripping fingers or a finger gripper with three gripping fingers, or a combination gripper consisting of a force-locking gripper and a form-locking gripper.

[0013] The different types of grippers are described by their respective "gripper type". For example, a vacuum suction gripper with one suction cup can be assigned a first gripper type, and a vacuum suction gripper with multiple suction cups a second gripper type, and so on. Similarly, a finger gripper with two gripping fingers can be assigned a first gripper type, and a finger gripper with three gripping fingers a second gripper type, and so on. Likewise, different combination grippers can be assigned different gripper types.

[0014] In other words, different designs of grippers within the same operating principle or within the same gripping technology (for example, a varying number of suction cups in suction grippers) can lead to different gripper types.

[0015] However, it is also possible that different operating principles or gripping technologies (for example, suction grippers vs. clamping grippers) lead to different gripper types.

[0016] The storage and order picking system, as described in the invention, comprises at least two different grippers. In other words, the storage and order picking system thus includes at least two grippers of different gripper types.

[0017] On the one hand, the various grippers can be stored in a magazine within the robot's operating range and are removed from there as needed and connected to the robot head. On the other hand, the grippers can also be permanently attached to the robot head and activated when required. For example, they can be arranged in a revolver-style magazine on the robot head. In this context, it should be noted that the term "activating" a gripper should not be equated with the term "gripping" (with the gripper), but merely means transitioning a gripper from a passive state, in which gripping is not possible, to a ready state that enables gripping. Passive or inactive grippers, therefore, cannot grip. The same applies to the term "coupling" a gripper.

[0018] The "graspability type" indicates which goods can be gripped with a specific gripper of a specific gripper type. The graspability type also serves as the sorting criterion for forming a product group. If each good is assigned exactly one graspability type, then there is exactly one solution for forming a product group. If some or all goods are assigned multiple graspability types, then there are several possibilities for forming a product group. For example, in such a case, the graspability type with the greatest overlap might be chosen. If, for instance, a first good (Good 1) is assigned graspability types A and B, and a second good (Good 2) is assigned graspability types B and C, then graspability type B is advantageously chosen for both goods (Goods 1 and 2).

[0019] While the grasping type characterizes the goods, the corresponding gripper type characterizes the gripper of a robot. The grasping type and the gripper type can therefore be directly assigned to each other in a one-to-one relationship. In a warehouse and order picking system, there can be multiple grippers of the same gripper type, for example, distributed across several robots. A single robot can also be assigned multiple grippers of the same gripper type, for example, to have a reserve in case of a defect.

[0020] The gripping characteristics are influenced both by the properties of the gripper of the assigned gripper type and by the "product characteristics" of the product being gripped. It should be noted that a product generally possesses product characteristics that influence, or can influence, its gripping characteristics, as well as those that generally do not. Examples of product characteristics that can influence gripping include the product's flexural stiffness, fragility, density, weight, surface shape, surface roughness, and surface permeability. Examples of product characteristics that generally do not influence gripping include the product's color and surface reflectivity.

[0021] One or more product characteristics define a "product type." A first product type might include flexible goods, a second product type might include rigid goods, and so on. A flexible product is, for example, a T-shirt in a plastic bag, while a rigid product is, for example, a pair of shoes in a box. However, products of different product types can be assigned the same handling type. An example would be a shirt and a T-shirt, each packaged in a plastic bag, and thus both of which can be handled in the same way.

[0022] The handling type assigned to a product is stored, for example, in the product's master data, particularly in addition to other data that characterize the product type. It is also possible for multiple handling types to be stored for a single product or product type if the product can be handled with multiple grippers or gripper types.

[0023] Determining the handling type of a product can be achieved by identifying the product after reading a data carrier. Reading the data carrier can be done using a reader connected to the control system. The data carrier could be, for example, a barcode, matrix code (especially a QR code, quick response code), Data Matrix code, RFID tag (radio frequency identification), or similar. The reader can be an optical or optoelectronic device capable of machine-reading the data. The data carrier can contain data, particularly an identification number, which allows access to the master data in which the handling type for that product is stored. Alternatively, the data carrier can directly contain data about the handling type.

[0024] Determining the tangibility type of a product can also be achieved by identifying the product using "object recognition." Object recognition describes a method for identifying an object (corresponding to a product) using optical, acoustic, or other physical recognition methods. In particular, after identifying the product through object recognition, the master data containing the tangibility type for that product can be accessed.

[0025] The term "providing" the goods within the robot's area of ​​operation includes, in particular, supplying the goods to the robot's area of ​​operation.

[0026] The term "giving away" goods includes both throwing away goods and putting down goods.

[0027] The control system is primarily a higher-level control system and not necessarily a robot control system.

[0028] Further advantageous embodiments and developments of the invention will become apparent from the dependent claims and from the description in conjunction with the figures.

[0029] It is advantageous to sort goods within a product group according to product type. Accordingly, product type becomes a subordinate sorting criterion to gripper type, resulting in blocks of goods of the same type within a product group. For example, shirts and T-shirts within a product group can form separate blocks. This approach is particularly beneficial at goods receiving when goods need to be stored according to their type. Furthermore, this approach is especially advantageous in B2B order picking, as many items of the same type are often ordered and subsequently need to be stored separately in a shop.

[0030] It is also advantageous to arrange goods within a product group in a random order with regard to product type. In this configuration, product type does not serve as a sorting criterion within a product group. For example, shirts and T-shirts can be mixed within a product group. This configuration is particularly beneficial at goods receiving when goods are to be stored in a random order. Furthermore, this configuration is especially advantageous for order picking in e-commerce or B2C sectors, as orders often consist of a small number of items of many different types, which are then packed as a single unit into a shipping carton.

[0031] It is particularly advantageous if the product groups are sequenced according to the gripper type of a gripper currently activated or coupled in the robot, whereby goods in the first product group have a gripping type that corresponds to the gripper type of the gripper currently activated or coupled in the robot. In this case, when feeding the goods to the robot, care is taken to ensure that the robot is first presented with those goods that can be gripped by the gripper currently activated or coupled in the robot. This advantageously avoids the need for a gripper change.

[0032] It is also advantageous if the order of goods groups is independent of the gripper type of the gripper currently activated or coupled to the robot. In this case, when feeding goods to the robot, no care is taken to ensure that the robot receives first those goods that can be gripped by the gripper currently activated or coupled to the robot. This may necessitate a gripper change to grasp goods from the first product group. This approach is advantageous if the goods in the first product group are to be processed with priority and a potential gripper change is acceptable.

[0033] It is advantageous if the sorting of different goods into product groups according to their handling characteristics is carried out by an automatic sorting device, which in turn is connected to the electronic control system to control the automatic sorting device. Similarly, it is also beneficial if the storage and order picking system includes an automatic sorting device integrated with the conveyor system or an automatic sorting device encompassing the conveyor system, in which case the sorting device is connected to the electronic control system and controlled by the system in such a way that the different goods are sorted into product groups according to their handling characteristics. Automatic sorting achieves a particularly high sorting performance and thus enables uninterrupted provision of goods at the first location.

[0034] It is advantageous if the automatic sorting system includes an overhead conveyor and hanging pockets, in which the goods are stored. Accordingly, it is also beneficial if the conveyor system includes, or is formed by, an overhead conveyor for transporting the hanging pockets from the automatic sorting system to the first position. The sorting system can comprise one or more sorting stages. If multiple sorting stages are present, they are interconnected by a conveyor system. Each sorting stage comprises a feed section, a discharge section, and one or more sorting sections between them. The feed section, discharge section, and sorting section(s) are formed by an overhead conveyor system. The goods are selectively fed from the feed section into the sorting sections and selectively discharged from the sorting sections into the discharge section.For example, the sorting device is formed by a matrix sorter.

[0035] Besides sorting in a dedicated sorting device, sorting can also be achieved in other ways, for example, by retrieving goods from a warehouse in a specific sequence or grouping, thus eliminating the need for subsequent sorting or grouping. Sorting or grouping can also be accomplished by controlling switches and merging points within the conveyor system. Furthermore, buffer zones connected to the conveyor system can be used. This allows, for example, individual items to be removed from the conveyor flow and later reinserted at the appropriate location. Accordingly, the term "conveyor system" generally encompasses a device for providing goods separated into product groups.

[0036] It is also advantageous if only one item is stored in each hanging bag. This makes it easier to remove the item from the hanging bag.

[0037] It is also advantageous if the automatic sorting system includes a container conveyor system and containers, with the goods being stored in the containers. Accordingly, it is also beneficial if the conveyor system includes, or is formed by, a container conveyor system for transporting the containers from the automatic sorting system to the first position. The sorting system can comprise one or more sorting stages. If multiple sorting stages are present, they are interconnected by a conveyor system. Each sorting stage comprises a feed section, a discharge section, and one or more sorting sections between them. The feed section, discharge section, and sorting section(s) are formed by a container conveyor system. The goods are selectively fed from the feed section into the sorting sections and selectively discharged from the sorting sections into the discharge section.

[0038] It is particularly advantageous if each container stores only goods of a single handling type. Furthermore, in the case of compartment-divided containers, it can be provided that each compartment stores goods of a single handling type. Compartment-divided containers thus have at least one receiving compartment that holds goods of the same handling type, which are accordingly assigned to a first or second product group. The proposed measures avoid the need to change the gripper when removing goods from a container or a container compartment.

[0039] It should be noted that, according to the measures proposed for this variant, although only goods of a single handling type are stored in a container or container compartment, this does not necessarily mean that the goods in the container or container compartment are stored separately with regard to the product types. Of course, storing goods separately by product type in each container or container compartment would also be possible.

[0040] "Product-segregated" means that the goods stored in a container are of the same type. For example, a first container contains goods of type "A" and a second container contains goods of type "B", and so on. It is also possible for the containers to be divided into several compartments by partitions, each containing different types of goods, with the first compartment containing goods of type "A" and the second compartment containing goods of type "B". However, according to the proposed design, each compartment contains goods of a single handling type.

[0041] It should be noted that a tray or cardboard box can also be considered a container. Generally speaking, containers serve as loading aids for transporting goods.

[0042] It is also advantageous if the automated sorting system includes a driverless transport system with one or more autonomously moving transport vehicles, each equipped with a receiving platform or a hanging rail on which the goods are stored, with or without containers or hanging bags. This allows for a particularly flexible sorting system. An autonomously moving transport vehicle of this type is also known as an "autonomous guided vehicle" (AGV) or "autonomous mobile robot" (AMR). These transport vehicles can be considered not only as a (dedicated) sorting device but also more generally as part of the conveying system.

[0043] To better understand the invention, it is explained in more detail with reference to the following figures.

[0044] They each show, in a highly simplified, schematic representation: Fig. 1 is an oblique view of a section of a first example of a storage and order picking system; Fig. 2 is an oblique view of a section of a second example of a storage and order picking system; Fig. 3 is a schematic top view of the system shown in Fig. 2 Figure 4 shows a storage and order picking system; Figure 4 shows a schematic top view of a section of a storage and order picking system with an automatic sorting device; Figure 5 shows a schematic top view of a section of a storage and order picking system with a sorting device that includes autonomously moving transport vehicles; Figure 6 shows an autonomously moving transport vehicle of a transport system, in oblique view.

[0045] It should be noted at the outset that in the differently described embodiments, identical parts are provided with the same reference numerals or component designations, and the disclosures contained in the entire description can be applied analogously to identical parts with the same reference numerals or component designations. Furthermore, the positional designations chosen in the description, such as top, bottom, side, etc., refer to the figure directly described and illustrated and must be applied analogously to the new position if the position changes.

[0046] The Fig. 1 Figure 1 shows an oblique view of a section from a first example of a storage and order picking system 1a. The storage and order picking system 1a comprises a robot 2, which in this example has a robot base 3, a first movable arm segment 4, a second movable arm segment 5, and a robot head 6 arranged on the second arm segment 5. Various grippers 7a..7c can be attached to the robot head 6. Specifically, in the Fig. 1 In the depicted state, a gripper 7a is coupled to the robot head 6, while two further grippers 7b, 7c are located in a gripper magazine 8 within the robot's operating range. With the grippers 7a..7c, the robot can grasp or pick up 2 different goods 9a..9d.

[0047] Goods 9a..9d are located in the Fig. 1 The example shown uses a container conveyor 10a, which has several conveyor rollers 12 arranged between two frame profiles 11, to transport the goods to a first position P1 within the operating area of ​​the robot 2. The storage and order picking system 1a also includes another container conveyor 10b, which likewise has several conveyor rollers 12 arranged between two frame profiles 11. The goods 9a..9d are transported on the container conveyors 10a, 10b using containers 13a..13e. Specifically, conveyor 10a serves to transport the goods 9a..9d in containers 13a, 13c, for example, from a storage area, and conveyor 10b serves to transport empty containers 13d, 13c and to transport filled containers 13b, for example, to a goods issue area. In the example shown, containers 13a and 13c are source loading aids, while containers 13b, 13d, and 13e are destination loading aids.

[0048] The storage and picking system 1a further comprises an electronic control system 14, which is configured to record gripping types for the various goods 9a..9d. The gripping type indicates which gripper 7a..7c, corresponding to which gripper type, enables the gripping of the respective goods 9a..9d. The control system 14 is connected to a first RFID reader 15a, which can be used to identify a container 13a, 13c and thus the goods 9a..9d contained therein. The result of the identification can be used for the picking process and / or for triggering a gripper change. The gripping type assigned to a good 9a..9d can, for example, be stored in a database and read from it by the control system 14. For example, the gripping type assigned to a good 9a..9d can be stored in the master data for a good 9a..9d must be stored, in particular in addition to further data that characterize a product type. Control system 14 is in particular a higher-level control system and not necessarily the robot control system of robot 2.

[0049] Instead of an RFID tag arranged on a container 13a..13e, the container 13a..13e can also have a barcode, matrix code, in particular a QR code (Quick Response code) or Data Matrix code for the same purpose.

[0050] The reading device can also be an optical or optoelectronic reading device with which the data can be read automatically. The data carrier can contain data, in particular an identification number, which allows access to the master data in which the accessibility type for this product 9a..9d is stored.

[0051] The data carrier can also directly contain the data about the accessibility type. In particular, the data includes an identification number and the data about the accessibility type.

[0052] The tangibility type of a product 9a..9d can also be determined by recognizing the product 9a..9d using "object recognition." Object recognition describes a method for identifying an object using optical, acoustic, or other physical recognition methods. In particular, after identifying the product 9a..9d through object recognition, the master data in which the tangibility type for this product is stored can be accessed.

[0053] The control system 14 is further configured to select a gripper 7a..7c provided on the robot 2 from the different gripper types depending on the gripping type of the goods 9a..9d to be transferred and to trigger a coupling of the selected gripper 7a with the robot head 6 or an activation of the selected gripper 7a on the robot head 6.

[0054] Robot 2 can grasp the goods 9a..9d with the selected gripper 7a at the first position P1 within the robot 2's operating range and place them at a second position P2 within the robot 2's operating range. Specifically, goods 9a..9d are removed from the containers 13a, 13c provided at the first position P1 and placed into the containers 13b, 13d, 13e provided at the second position P2. For example, a picking process can be implemented in this way, where containers 13a, 13c are source containers (e.g., storage containers) and containers 13b, 13d, 13e are destination containers (e.g., shipping containers or shipping cartons). Fig. 1 The arrangement shown can also be located at the goods receiving area. In this case, the container conveyor 10a is connected to the goods receiving area, and the container conveyor 10b is connected to a storage area. This allows the goods to be sorted before being put away. To identify the target containers 13b, 13d, and 13e, the control system 14 can be connected to a second RFID reader 15b.

[0055] It is advantageous if each source container 13a, 13c contains only goods 9a..9d of a single handling type. This avoids the need to change the gripper 7a..7c when removing goods 9a..9d from a container 13a, 13c. Furthermore, in the case of compartment-divided containers, it can be provided that each compartment of the container 13a, 13c contains goods 9a..9d of a single handling type. This avoids the need to change the gripper 7a..7c when removing goods 9a..9d from a compartment.

[0056] According to the invention, an (automated) conveying technology, in particular the container conveying device 10a described above, is provided, which is designed to supply the goods 9a..9d to the robot 2 separately according to product groups G1..G3, wherein the goods 9a, 9c of a first product group G1 are initially provided at the first position P1 and then the goods 9d of a second product group G2 are provided at the first position P1.

[0057] The first product group G1 comprises (different) goods 9a, 9c of a first gripping type of gripping types, which can be gripped at the first position P1 and released at the second position P2 by gripper 7a of a first gripper type. The second product group G2 comprises (identical) goods 9d of a second gripping type of gripping types, which can be gripped at the first position P1 and released at the second position P2 by gripper 7b of a second gripper type. In other words, according to this embodiment, goods 9a, 9c are assigned to the first gripping type and form the first product group G1 (in the Fig. 1 (not registered) and on the other hand, goods 9d are assigned to the second tangibility type and form the second goods group G2 (in the Fig. 1 (not registered). Therefore, a gripper change is required after goods 9a and 9c have been delivered to the second position P2.

[0058] If, however, the (different) goods 9a, 9c, 9d are all assigned to a first gripping type of gripping types, the containers 13a, 13c are provided sequentially at the first position P1, and the goods 9a, 9c, 9d are handled without changing grippers. The goods 9a, 9c, 9d are all gripped at the first position P1 with gripper 7a of a first gripper type and released at the second position P2. In other words, according to this embodiment, the goods 9a, 9c, 9d are assigned to the first gripping type and form the first goods group G1 (in the Fig. 1 unrecorded).

[0059] Fig. 2 shows an embodiment of a further storage and order picking system 1b, which corresponds to the one described in Fig. 1 The illustrated storage and order picking system 1a is very similar. However, instead of the second container conveyor 10b, there is a suspended conveyor 16 with a support profile 17 and hanging pockets 18a..18d movable along this profile, which can be transported to and from the first position P1. One possible embodiment of a suspended conveyor is described in WO 2020 / 150762 A1. In the illustrated embodiment, the hanging pockets 18a..18d form the source loading aids, and the containers 13a, 13c the destination loading aids. It is advantageous if only a single item 9a..9d (not shown) is stored in each hanging pocket 18a..18d. These measures facilitate the removal of the item 9a..9d from the hanging pocket 18a..18d.

[0060] In Fig. 2 It can be seen that the hanging bag 18a has been transported to the first position P1 and is being made available there. The hanging bag 18a is in an open position, in which the robot 2 with the gripper 7a moves it into a storage compartment in the hanging bag 18a and can grasp / remove the item 9a. In the Fig. 2 In the depicted state, item 9a has already been removed from the storage room and is being placed in container 13a, which is located in the second position P2. Container 13a also already contains previously placed item 9b. The loaded hanging bags 18b..18d are in a closed position, in which the goods (in the Fig. 2 (not visible) are stored in a storage room and are transported one after the other to the first position P1.

[0061] The in Fig. 2 The arrangement shown can in turn be located at a picking station or, for example, at goods receiving.

[0062] Fig. 3 shows a schematic top view of the in Fig. 2 disclosed arrangement in which the hanging pockets 18 are hatched differently depending on the graspability type of the goods 9 contained in the hanging pockets 18 and are sorted according to goods groups G1..G3.

[0063] According to the invention, an (automatically operated) conveyor technology, in particular the overhead conveyor 16 described above, is provided, which is designed to supply the goods 9 to the robot 2 separately according to product groups G1..G3, wherein first the goods 9 of a first product group G1 are provided at the first position P1 and then the goods 9 of a second product group G2 are provided at the first position P1, etc.

[0064] A gripper change is required when switching from one product group G1 to another product group G2. Within product group G1, there may be identical or different products (9) with the same gripping type.

[0065] According to the illustrated design, the first product group G1 contains similar goods of a first graspability type, the second product group G2 contains similar goods of a second graspability type, and the third product group G3 contains similar goods of a third graspability type.

[0066] To grip the goods 9 of the first goods group G1, the gripper 7a of the first gripper type is used, and the goods 9 are preferably gripped one after the other at the first position P1 and delivered at the second position P2.

[0067] To grip the goods 9 in the second goods group G2, the gripper 7b of the second gripper type is used, and the goods 9 are preferably gripped one after the other at the first position P1 and delivered at the second position P2.

[0068] To grip the goods 9 in the third goods group G3, the gripper 7c of the third gripper type is used, and the goods 9 are preferably gripped one after the other at the first position P1 and delivered at the second position P2.

[0069] A method for operating a robot 2 for transferring different goods 9, 9a..9d in a storage and order picking system 1a comprises, in summary, the following steps: a) Determining the gripping types for the various goods 9, 9a..9d on the electronic control system 14, wherein the gripping type indicates which gripper 7a..7c, according to which gripper type, enables the gripping of the respective goods 9, 9a..9d, b) Providing grippers 7a..7c of different gripper types on the robot 2, c) Selecting a gripper 7a..7c from the different gripper types depending on the gripping type of the goods 9, 9a..9d to be transferred by the electronic control system 14, d) Coupling the selected gripper 7a..7c with the robot head 6 of the robot 2 or activating the selected gripper 7a..7c on the robot head 6 of the robot 2, e) Providing the goods 9, 9a..9d at the first position P1 in a working area of ​​the robot 2, and f) Gripping the goods 9, 9a..9d at the first position P1 and delivery of the goods 9, 9a..9d at the second position P2 in the working area of ​​the robot 2 with the selected gripper 7a..7c at robot 2. .

[0070] Additionally, the different goods 9, 9a..9d are sorted into product groups G1..G3 according to their grasping type. According to this embodiment, a first product group G1 comprises goods 9, 9a..9d of a first grasping type, a second product group G2 comprises goods 9, 9a..9d of a second grasping type, and a third product group G3 comprises goods 9, 9a..9d of a third grasping type. The goods 9, 9a..9d are fed to the robot 2 separately according to product groups G1..G3, so that first the goods 9, 9a..9d of the first product group G1 are provided at the first position P1, then the goods 9, 9a..9d of the second product group G2 at the first position P1, and finally the goods 9, 9a..9d of the third product group G3 at the first position P1.

[0071] It should be mentioned that sorting is also possible for more than three product groups G1..G3, but at least for two product groups G1..G2.

[0072] By forming product groups G1..G3, the number of gripper changes can be reduced to a minimum, even with an extremely wide product range and thus a large number of different items 9, 9a..9d. The higher the number of items 9, 9a..9d in a product group G1..G3, the less frequently a gripper change is necessary.

[0073] The different types of grippers 7a..7c are described by their respective "gripper type". Grippers 7a..7c can, for example, be force-locking grippers, form-locking grippers, or combination grippers. The "gripping type" indicates those goods 9, 9a..9d that can be gripped with a specific gripper 7a..7c of a specific gripper type. The gripping type is also the sorting criterion for forming a product group G1..G3.

[0074] On the one hand, the different grippers 7a..7c can be located in a gripper magazine 8 within the robot 2's operating range and are removed from there as needed and connected to the robot head 6, as is the case in the examples shown in the figures. On the other hand, the grippers 7a..7c can also be permanently attached to the robot head 6 and activated as needed. For example, they can be arranged in a revolver magazine on the robot head 6.

[0075] For the sake of completeness, it should be noted that reader 15a cannot be used for forming product groups G1 to G3, as it is located too far downstream in the conveyor flow. Therefore, product identification for forming product groups G1 to G3 takes place further upstream, as is done, for example, with readers 15c and 15d in the... Fig. 4 and 5 that is the case.

[0076] Fig. 4 shows a schematic top view of a section of a storage and order picking system 1c, which corresponds to the one in Fig. 3 The storage and order picking system 1b shown is very similar. In contrast, storage and order picking system 1c includes an automatic sorting device 19a based on overhead conveyor technology. The function of a sorting device 19a is generally known, which is why it is described in the Fig. 4 is not shown in detail. From the Fig. 4 It is evident that the goods 18 are fed into the sorting device 19a in an unordered state, sorted by the sorting device 19a into product groups G1..G3, and then leave the sorting device 19a separately according to the product groups G1..G3 (compare also the illustration in Fig. 3 The control system 14 is connected to the automatic sorting device 19a for this purpose. The automatic sorting device 19a also includes an RFID reader 15c for identifying the goods 9, 9a..9d. Automatic sorting achieves a particularly high sorting performance and thus enables the uninterrupted provision of the goods 9, 9a..9d at the first position P1. The sorting device 19a can comprise one or more sorting stages that are interconnected by a conveyor system. For example, the sorting device 19a can be a matrix sorter. The overhead conveyor system 16 can also be designed specifically for transporting the hanging bags 18, 18a..18d from the automatic sorting device 19a to the first position P1.

[0077] It should be noted here that the automatic sorting device 19a can also be operated using a container conveyor system. In particular, such a system would be suitable for combination with the one described in the Fig. 1 The storage and order picking system 1a shown is suitable. The container conveying technology or the container conveying device 10a can then also be designed in particular for transporting the containers 13a, 13c from the automatic sorting device 19a to the first position P1.

[0078] Furthermore, the sorting and grouping of goods 9, 9a..9d can also be carried out, for example, by retrieving the goods 9, 9a..9d from a storage area of ​​the storage and order picking system 1a..1c in the specified sequence or grouping, by controlling switches and merging points along the conveyor system 10a, 16 and / or by using buffer locations along the conveyor system 10a, 16.

[0079] Fig. 5 shows a schematic top view of a section of another storage and order picking system 1d, which corresponds to the one in Fig. 4 The storage and order picking system 1c shown is very similar. According to this embodiment, an automatic sorting device 19b is provided, comprising a receiving point 20, a transfer point 21, and an automated guided vehicle (AGV) system with one or more autonomously moving transport vehicles 22a, 22b. The transport vehicles 22a, 22b each have a receiving platform 23a, 23b or a hanging rail on which the goods 9, 9a..9d are stored with or without containers 13, 13a..13d or with or without hanging bags 18, 18a..18d. The transport vehicles 22a, 22b receive the goods 9, 9a..9d unsorted at the receiving point 20 and deliver them in sorted order to the transfer point 21. The automatic sorting device 19b therefore comprises an automated guided vehicle (AGV) system. For this purpose, the control system 14 is connected to the automatic sorting device 19b and the transport vehicles 22a, 22b respectively, in order to control them.The automatic sorting device 19b also includes an RFID reader 15d at the receiving point 20 for identifying the goods 9, 9a...9d. The proposed measures allow for the construction of a particularly flexible sorting device 19b. The transport vehicles 22a, 22b can be considered not only as a (dedicated) sorting device 19b, but also generally as part of the conveying system 16.

[0080] Fig. 6 Figure 22c shows a possible embodiment of an autonomously moving industrial truck 22c (also known as an automated guided vehicle or automated mobile robot, or AMR). The autonomous industrial truck 22c comprises a chassis 24 with a drive unit and a goods receiving platform or loading platform 23b arranged on the chassis 24 for receiving, dispensing, and transporting goods 9, 9a..9d (not shown in this figure) or a container 13, 13a..13e (not shown in this figure) in which the goods 9, 9a..9d are stored. It is also conceivable that the autonomous industrial truck 22c additionally or alternatively includes a hanging rail functioning as a goods receiving platform, with which hanging bags 18, 18a..18d or hanging garments on goods carriers with hangers or hangers with the hanging garments can be transported.

[0081] The drive unit comprises 24 rotatably mounted wheels 25, 26 on the chassis, at least one of which is coupled to a drive (not shown), and at least one of which is steerable. Both wheels 25, 26 can also be coupled to and driven by the drive. The autonomous industrial truck 22c can also have four wheels, two of which are steerable. In the illustrated embodiment, the goods receiving unit 23b is adjustable between a starting position (shown in solid lines) and a transport position (shown in dashed lines).

[0082] In the starting position, goods 9, 9a..9d or containers 13, 13a..13e can be moved underneath to pick them up. If the goods receiving unit 23b is moved from the starting position towards the transport position, the goods 9, 9a..9d or the containers 13, 13a..13e can be lifted and then transported. If the goods receiving unit 23b is moved from the transport position back towards the starting position, the goods 9, 9a..9d or the containers 13, 13a..13e can be set down or delivered.

[0083] The autonomous industrial truck 22c further comprises a control unit 27, schematically depicted in dashed lines, for controlling / regulating the movements of the autonomous industrial truck 22c. The control unit 27 can also include means for (wireless) data transmission to and from the autonomous industrial truck 22c. In this way, the autonomous industrial truck 22c, or rather its control unit 27, can communicate with the control system 14, that is, receive commands from it and transmit data to it. Finally, the autonomous industrial truck 22c includes sensors for detecting its surroundings and for spatial orientation.

[0084] It should also be noted that sorting of goods 9, 9a..9d according to product groups G1..G3 can also be carried out without automatic sorting device 19a, 19b, for example by appropriate automatic removal of goods 9, 9a..9d (with or without containers) from a storage area.

[0085] In principle, the sorting of the different goods 9, 9a..9d into goods groups G1..G3, depending on the grasping type, can also be done manually. The first goods group G1 comprises the goods 9, 9a..9d of the first grasping type, and a second goods group G2 comprises the goods 9, 9a..9d of the second grasping type. The goods 9, 9a..9d are fed to the robot 2 separately according to goods groups G1..G3, in particular by the conveyor technology, especially the container conveyor 10a and / or the overhead conveyor 16, so that first the goods 9, 9a..9d of the first goods group G1 are provided at the first position P1, and then the goods 9, 9a..9d of the second goods group G2 are provided at the first position P1.

[0086] In general, the product groups G1..G3 can be sequenced according to the gripper type of a gripper 7a currently activated or coupled in robot 2, whereby products 9, 9a..9d of the first product group G1..G3 have a gripping type that corresponds to the gripper type of the gripper 7a currently activated or coupled in robot 2. In this case, when feeding products 9, 9a..9d to robot 2, care is taken to ensure that robot 2 is fed first those products 9, 9a..9d that can be gripped by the gripper 7a currently activated in or coupled to robot 2. This advantageously avoids a gripper change.

[0087] Alternatively, the product groups G1..G3 can also be sequenced independently of the gripper type of the gripper 7a currently activated or coupled in robot 2. In this case, when feeding goods 9, 9a..9d to robot 2, it is not ensured that robot 2 receives those goods 9, 9a..9d first that can be gripped by the gripper 7a currently activated in or coupled to robot 2. This may necessitate a gripper change for gripping goods 9, 9a..9d of the first product group G1. However, this variant of the procedure is advantageous if goods 9, 9a..9d of the first product group G1 are to be processed with priority and a possible gripper change is acceptable.

[0088] Within a product group G1..G3, goods 9, 9a..9d can be sorted by product type or arranged randomly. Sorting by product type is advantageous, for example, at goods receiving when goods are to be stored separately, or for order picking in the B2B sector, as many goods 9, 9a..9d of one product type are often ordered and subsequently need to be stored separately in a shop. A random arrangement is advantageous, for example, at goods receiving when goods 9, 9a..9d are to be stored randomly. Furthermore, this configuration is particularly advantageous for order picking in e-commerce or B2C, as small quantities of many different product types are often ordered and packed as a single unit into a shipping carton.

[0089] It should be noted here that the in the Fig. 1 The depicted design of robot 2 as a multi-axis robot or articulated arm robot is purely exemplary. Instead, robot 2 could also be designed as a gantry robot or as a hybrid of the two types.

[0090] Finally, it is further noted that the scope of protection is defined by the patent claims. However, the description and drawings must be consulted for the interpretation of the claims. Individual features or combinations of features from the different embodiments shown and described can, in themselves, represent independent inventive solutions. The problem underlying these independent inventive solutions can be found in the description.

[0091] It is specifically noted that the depicted devices may in reality comprise more or fewer components than shown. In some cases, the depicted devices or their components may also be shown not to scale and / or enlarged and / or reduced in size. Bezugszeichenaufstellung

[0092] 1a..1d Storage and order picking system (excerpt) 2 Robot 3 Robot base 4 First arm segment 5 Second arm segment 6 Robot head 7a..7c Gripper 8 Gripper magazine 9, 9a..9d Goods 10a, 10b Container conveyor / Roller conveyor 11 Frame profile 12 Conveyor roller 13, 13a..13e Container 14 Electronic control system 15a..15d RFID reader 16 Hanging conveyor device 17 Support profile 18, 18a..18d Hanging pocket 19a, 19b Automatic sorting device 20 Receiving point 21 Transfer point 22a, 22 Monomobile transport vehicle 23a, 23b Receiving platform 24 Chassis 25 Wheel (driven) 26 Wheel (steerable) 27 Driving control P1 First position P2 Second position G1..G3 Product group

Claims

1. An operating method of a robot (2) for transferring different goods (9, 9a..9d) in a storage and picking system (1a..1d), comprising the steps a) acquiring grip types for the different goods (9, 9a..9d) in an electronic control system (14), wherein the grip type indicates with which gripper (7a..7c) corresponding to which gripper type gripping of the respective good (9, 9a..9d) is possible, b) providing grippers (7a..7c) of different gripper types, c) selecting a gripper (7a..7c) from the different gripper types depending on the grip type of the good (9, 9a..9d) to be transferred by the electronic control system (14), d) coupling the selected gripper (7a..7c) to a robot head (6) of the robot (2) or activating the selected gripper (7a..7c) on a robot head (6) of the robot (2), e) providing the goods (9, 9a..9d) at a first position (P1) in a region of action of the robot (2), and f) gripping the good (9, 9a..9d) at the first position (P1) and depositing the good (9, 9a..9d) at a second position (P2) in the region of action of the robot (2) with the selected gripper (7a..c) of the robot (2), characterized by the steps sorting the different goods (9, 9a..9d) into groups of goods (G1..G3) depending on the grip type by an automatic sorting device (19a, 19b) connected to the electronic control system (14), wherein the automatic sorting device (19a, 19b) is controlled by the control system (14) and comprises an overhead conveyor system and hanging bags (18, 18a..18d), wherein only a single good (9, 9a..9d) is stored in each hanging bag (18, 18a..18d) and wherein a first group of goods (G1) of the groups of goods (G1..G3) comprises goods (9, 9a..9d) of a first grip type of the grip types and a second group of goods (G2) of the groups of goods (G1..G3) comprises goods (9, 9a..9d) of a second grip type of the grip types, and supplying the goods (9, 9a..9d), separated into the groups of goods (G1..G3), to the robot (2) so that firstly the goods (9, 9a..9d) of the first group of goods (G1) are provided at the first position (P1) and subsequently the goods (9, 9a..9d) of the second group of goods (G2) are provided at the first position (P1).

2. The method according to claim 1, characterized in that the goods (9, 9a..9d) are sorted within a group of goods (G1..G3) according to a good type of the goods (9, 9a..9d) in a type-by-type manner.

3. The method according to claim 1, characterized in that the goods (9, 9a..9d) are arranged within a group of goods (G1..G3) according to a good type of the goods (9, 9a..9d) in a chaotic manner.

4. The method according to one of the claims 1 to 3, characterized in that sequencing of the groups of goods (G1..G3) is executed depending on the gripper type of a gripper (7a..7c) currently activated in or coupled to the robot (2), wherein goods (9, 9a..9d) of the first group of goods (G1..G3) have a grip type, which corresponds to the gripper type of the gripper (7a..7c) currently activated in or coupled to the robot (2).

5. The method according to one of the claims 1 to 3, characterized in that sequencing of the groups of goods (G1..G3) is executed independently of the gripper type of the gripper (7a..7c) currently activated in or coupled to the robot (2).

6. An operating method of a robot (2) for transferring different goods (9, 9a..9d) in a storage and picking system (1a..1d), comprising the steps a) acquiring grip types for the different goods (9, 9a..9d) in an electronic control system (14), wherein the grip type indicates with which gripper (7a..7c) corresponding to which gripper type gripping of the respective good (9, 9a..9d) is possible, b) providing grippers (7a..7c) of different gripper types, c) selecting a gripper (7a..7c) from the different gripper types depending on the grip type of the good (9, 9a..9d) to be transferred by the electronic control system (14), d) coupling the selected gripper (7a..7c) to a robot head (6) of the robot (2) or activating the selected gripper (7a..7c) on a robot head (6) of the robot (2), e) providing the goods (9, 9a..9d) at a first position (P1) in a region of action of the robot (2), and f) gripping the good (9, 9a..9d) at the first position (P1) and depositing the good (9, 9a..9d) at a second position (P2) in the region of action of the robot (2) with the selected gripper (7a..c) of the robot (2), characterized by the steps sorting the different goods (9, 9a..9d) into groups of goods (G1..G3) depending on the grip type of which a first group of goods (G1) comprises goods (9, 9a..9d) of a first grip type of the grip types and a second group of goods (G2) comprises goods (9, 9a..9d) of a second grip type of the grip types, and supplying the goods (9, 9a..9d), separated into the groups of goods (G1..G3), to the robot (2) so that firstly the goods (9, 9a..9d) of the first group of goods (G1) are provided at the first position (P1) and subsequently the goods (9, 9a..9d) of the second group of goods (G2) are provided at the first position (P1), wherein A) goods (9, 9a..9d) are sorted within a group of goods (G1..G3) according to a good type of the goods (9, 9a..9d) in a type-by-type manner when the method is executed at goods receipt and goods (9, 9a..9d) are to be stored in the storage and picking system (1a..1d) in a type-by-type manner or when goods (9, 9a..9d) are picked in the business-to-business sector, and B) goods (9, 9a..9d) are arranged within a group of goods (G1..G3) according to a good type of the goods (9, 9a..9d) in a chaotic manner, when the method is executed at goods receipt and goods (9, 9a..9d) are to be stored in the storage and picking system (1a..1d) in a chaotic manner or when goods (9, 9a..9d) are picked in the business-to-consumer sector.

7. A storage and picking system (1a..1d) comprising a robot (2) for transferring goods (9, 9a..9d) comprising a robot head (6) and at least two different grippers (7a..7c), which can be alternately coupled to the robot head (6) or at least two different grippers (7a..7c) arranged on the robot head, which can be activated alternately, an electronic control system (14) configured to acquire the grip types for the different goods (9, 9a..9d), wherein the grip type indicates with which gripper (7a..7c) corresponding to which gripper type gripping of the respective good (9, 9a..9d) is possible, and further configured to select a provided gripper (7a..7c) from the different grip types depending on the grip type of the good to be transferred and trigger coupling of the selected gripper (7a..7c) to the robot head (6) or activating of the selected gripper (7a..7c) on the robot head (6), and a conveyor system (10a, 16) configured to transport goods (9, 9a..9d) to a first position (P1) in a region of action of the robot (2), wherein the robot (2) is configured to grip the good (9, 9a..9d) with the selected gripper (7a..7c) at the first position (P1) in the region of action of the robot (2) and to deposit the good (9, 9a..9d) at a second position (P2) in the region of action of the robot (2), characterized in that the conveyor system (10a, 16) is further configured to supply the goods (9, 9a..9d), separated into groups of goods (G1..G3), to the robot (2), wherein firstly the goods (9, 9a..9d) of a first group of goods (G1) are provided at the first position (P1) and subsequently the goods (9, 9a..9d) of a second group of goods (G2) are provided at the first position (P1), wherein the first group of goods (G1) comprises goods (9, 9a..9d) of a first grip type of the grip types and the second group of goods (G2) comprises goods (9, 9a..9d) of a second grip type of the grip types, and the storage and picking system comprises an automatic sorting device (19a, 19b) connected to the conveyor system (10a, 16) in terms of conveyance or an automatic sorting device (19a, 19b) comprising the conveyor system (10a, 16), wherein the sorting device (19a, 19b) is connected to the electronic control system (14) in a controllable manner and is controlled by the control system (14) in such a way that the different goods (9, 9a..9d) are sorted into groups of goods (G1..G3) depending on the grip type, wherein the automatic sorting device (19a) comprises an overhead conveyor system and hanging bags (18, 18a..18d) and wherein only a single good (9, 9a..9d) is stored in each hanging bag (18, 18a..18d).

8. The storage and picking system (1a..1d) according to claim 7, characterised in that the conveyor system comprises an overhead conveyor system for transporting the hanging bags (18, 18a, 18d) from the automatic sorting device (19a) to the first position (P1) or is formed by such an overhead conveyor system.

9. A storage and picking system (1a..1d) comprising a robot (2) for transferring goods (9, 9a..9d) comprising a robot head (6) and at least two different grippers (7a..7c), which can be alternately coupled to the robot head (6) or at least two different grippers (7a..7c) arranged on the robot head, which can be activated alternately, an electronic control system (14) configured to acquire the grip types for the different goods (9, 9a..9d), wherein the grip type indicates with which gripper (7a..7c) corresponding to which gripper type gripping of the respective good (9, 9a..9d) is possible, and further configured to select a provided gripper (7a..7c) from the different grip types depending on the grip type of the good to be transferred and trigger coupling of the selected gripper (7a..7c) to the robot head (6) or activating of the selected gripper (7a..7c) on the robot head (6), and a conveyor system (10a, 16) configured to transport goods (9, 9a..9d) to a first position (P1) in a region of action of the robot (2), wherein the robot (2) is configured to grip the good (9, 9a..9d) with the selected gripper (7a..7c) at the first position (P1) in the region of action of the robot (2) and to deposit the good (9, 9a..9d) at a second position (P2) in the region of action of the robot (2), characterized in that the conveyor system (10a, 16) is further configured to supply the goods (9, 9a..9d), separated into groups of goods (G1..G3), to the robot (2), wherein firstly the goods (9, 9a..9d) of a first group of goods (G1) are provided at the first position (P1) and subsequently the goods (9, 9a..9d) of a second group of goods (G2) are provided at the first position (P1), wherein the first group of goods (G1) comprises goods (9, 9a..9d) of a first grip type of the grip types and the second group of goods (G2) comprises goods (9, 9a..9d) of a second grip type of the grip types, and the storage and picking system comprises an automatic sorting device (19a, 19b) connected to the conveyor system (10a, 16) in terms of conveyance or an automatic sorting device (19a, 19b) comprising the conveyor system (10a, 16), wherein the sorting device (19a, 19b) is connected to the electronic control system (14) in a controllable manner and is controlled by the control system (14) in such a way that the different goods (9, 9a..9d) are sorted into groups of goods (G1..G3) depending on the grip type, wherein the sorting device (19a, 19b) is further configured to A) sort goods (9, 9a..9d) within a group of goods (G1..G3) according to a good type of the goods (9, 9a..9d) in a type-by-type manner when the method is executed at goods receipt and goods (9, 9a..9d) are to be stored in the storage and picking system (1a..1d) in a type-by-type manner or when goods (9, 9a..9d) are picked in the business-to-business sector, and B) arrange goods (9, 9a..9d) within a group of goods (G1..G3) according to a good type of the goods (9, 9a..9d) in a chaotic manner, when the method is executed at goods receipt and goods (9, 9a..9d) are to be stored in the storage and picking system (1a..1d) in a chaotic manner or when goods (9, 9a..9d) are picked in the business-to-consumer sector.