Picking module

Abstract

The present invention relates to a picking module (3) which can be reversibly coupled to a industrial truck (2), in particular an autonomous industrial truck, for the automatic picking of objects, the picking module (3) comprising: a mast (7) which can be arranged on a load-receiving means (4) of the industrial truck (2) and which can be reversibly coupled to the load-receiving means (4) of the industrial truck (2), a robot arm (8), and a receiving tool (9) connected to the robot arm (8) for receiving the objects, wherein the robot arm (8) is arranged on the mast (7) so as to be raisable and lowerable, wherein the picking module (3) has an environment sensor (11) which is designed to detect a surrounding region of the picking module (3) and to generate a sensor signal, and the picking module (3) has a communication interface which is designed to connect the environment sensor (11) to a controller of the industrial truck (2) for communication purposes and to transmit the generated signal to the controller of the industrial truck (2).

Description

[0001] Description

[0002] Picking module

[0003] The invention relates to an order picking module which can be reversibly coupled to an industrial truck for the automatic order picking of objects, as well as to an order picking system comprising an industrial truck and an order picking module which is reversibly coupled to the industrial truck.

[0004] Order picking refers to all methods for assembling specific objects, especially goods in warehouses or distribution centers, from a provided overall product range. The assembly should be based on orders, such as customer orders or production orders. Recently, automated systems have been increasingly used for this purpose. For example, packages are picked by autonomously operated mobile order picking robots from a source position, such as a source pallet, and placed in a target position, such as a target pallet transported by the order picking robot or a transport vehicle.

[0005] Typically, mobile picking robots are used for this purpose, which are designed in particular as at least partially autonomous, in particular fully autonomous, picking robots, which can independently pick up the packages at the corresponding source position by means of a robot arm, can independently transport the picked packages to the target position, and can independently set down the picked packages at the target position.

[0006] Mobile picking robots receive order data such as order number, storage location coordinates, quantity, and weight of the goods, particularly automatically, from a central computer. They can, for example, travel to specific shelf compartments in high-bay warehouses and retrieve the desired object from the shelf compartment using a gripping system equipped with a picking tool. The picking tool can be designed as a gripper, for example, an adhesion gripper or a vacuum gripper. The mobile picking robots used for picking are self-propelled and usually have a lifting mast or other lifting device for vertically positioning the picking tool in the shelf and on the target container. Mobile picking robots are used for different tasks and therefore come in different designs.In particular, autonomous counterbalance forklifts, autonomous reach trucks, autonomous vertical order pickers and autonomous narrow aisle trucks are well known.

[0007] However, corresponding mobile picking robots are often still very expensive and therefore require high utilization to operate profitably. Furthermore, mobile picking robots are usually developed specifically for a specific task. In order to be able to autonomously map individual process steps with a high degree of reliability, mobile picking robots must be provided redundantly for this process. Intralogistics processes often result in process-related downtimes for mobile picking robots. Furthermore, the development of mobile picking robots is complex, time-consuming, and expensive. Therefore, the number of mobile picking robots produced is still very low.

[0008] DE 10 2018 133 102 A1 discloses a mobile picking robot which has a carrier vehicle and an autonomous picking module which is connectable to the carrier vehicle, whereby the mobile picking robot can be flexibly adapted to different requirements by means of the autonomous picking module.

[0009] A disadvantage of this state of the art, however, is that a corresponding self-sufficient picking module often protrudes beyond the outer contour of the mobile picking robot and thereby increases the outer dimensions of the mobile picking robot to such an extent that effective collision monitoring becomes necessary in order to prevent a collision of the picking module with obstacles in the surrounding area of ​​the mobile picking robot.

[0010] The present invention is based on the object of providing an order picking module for an industrial truck which can be flexibly adapted to different requirements and which enables effective collision monitoring.

[0011] This object is achieved according to a first aspect by an order picking module which can be reversibly coupled to an industrial truck for the automatic order picking of objects, the order picking module comprising: a lifting mast which can be arranged on a load-handling device of the industrial truck and can be reversibly coupled to the load-handling device of the industrial truck, a robot arm and a picking tool connected to the robot arm for picking up the objects, wherein the robot arm is arranged on the lifting mast so as to be able to be raised and lowered, wherein the order picking module has an environmental sensor which is designed to detect an environmental area of ​​the order picking module and to generate a sensor signal, and wherein the order picking module has a communication interface which is designedto connect the environmental sensor to a control system of the industrial truck and to transmit the generated sensor signal to the control system of the industrial truck.

[0012] In particular, the sensor signal generated by the environmental sensor of the picking module includes the positions of obstacles in the surrounding area of ​​the picking module, wherein the control of the industrial truck is particularly designed to take into account the corresponding positions of the obstacles when controlling the picking module and / or the industrial truck.

[0013] In particular, the environmental sensor of the picking module is designed to determine an outer contour of the picking module and / or the industrial truck, wherein the environmental sensor of the picking module is designed in particular to distinguish the surrounding area of ​​the picking module from the outer contour of the picking module and / or the industrial truck in order to detect the surrounding area of ​​the picking module.

[0014] This achieves the technical advantage that the surrounding area of ​​the picking module can be effectively monitored for obstacles by the environmental sensor of the picking module, and that the position of corresponding obstacles can be transmitted to the control system of the industrial truck via the sensor signal, so that in the event of an impending collision, the control system of the industrial truck can initiate an emergency braking or an evasive maneuver of the industrial truck, or can stop the movement of the robot arm.

[0015] According to one embodiment, a receiving device, in particular receiving shafts, is arranged on the lifting mast, in particular on an underside of the lifting mast, to which the load handling means of the industrial truck can be reversibly coupled, wherein in particular forks of the load handling means of the industrial truck can be inserted into the receiving shafts of the receiving device.

[0016] This achieves the technical advantage of enabling an advantageous reversible coupling between the load handling device of the industrial truck and the lifting mast of the order picking module by simply inserting the forks into the receiving device and then removing them again.

[0017] In particular, the picking module has a locking element designed to lock the picking module to the load-handling device, for example, a fork carriage and / or the forks of the industrial truck. The locking mechanism can be clamped or latched and can be engaged manually or actively. Furthermore, the locking mechanism can be opened or closed automatically, allowing the picking module to be changed fully autonomously.

[0018] According to one embodiment, the order picking module has its own energy supply device, in particular a battery.

[0019] This achieves the technical advantage that the battery of the picking module ensures an independent power supply for the picking module.

[0020] According to one embodiment, the order-picking module has an electrical interface that can be coupled to a power supply, in particular a battery, of the industrial truck in order to supply electrical energy from the industrial truck to the order-picking module. This achieves the technical advantage of enabling an electrical connection between the order-picking module and the industrial truck, so that a larger amount of electrical energy is available to the order-picking module due to the generally significantly larger battery of the industrial truck. This may make it possible to dispense with a separate battery for the order-picking module, or to reduce the size of the separate battery for the order-picking module.

[0021] In particular, the electrical interface is designed to automatically provide the connection to the power supply, in particular battery, of the industrial truck during a coupling process of the order picking module with the industrial truck.

[0022] According to one embodiment, the picking module has a lifting drive for raising and lowering the robot arm on the lifting mast, and / or the picking module has at least one arm drive for displacing the robot arm and the picking tool.

[0023] This achieves the technical advantage that the robot arm can be moved solely by the picking module thanks to its own lifting drive and / or at least an arm drive.

[0024] According to one embodiment, the communication interface comprises a wired communication interface which is designed to connect the environmental sensor to a controller of the industrial truck in a wired manner, or the communication interface comprises a wireless communication interface which is designed to connect the environmental sensor to a controller of the industrial truck in a wireless manner.

[0025] This achieves the technical advantage of enabling, depending on the application, an advantageous communication exchange between the environmental sensor of the order picking module and the controller of the industrial truck. According to one embodiment, the robot arm is designed as a multi-arm, in particular six-arm, robot arm, or the robot arm is designed as a kinematic system with translational axes.

[0026] This achieves the technical advantage that a corresponding multi-armed robot arm as well as a robot arm with translational axes enables a multitude of advantageous degrees of freedom of movement for moving objects.

[0027] According to one embodiment, the robot arm has a flat kinematics and is horizontally aligned in the coupled state, or the robot arm is designed as an articulated arm robot, which is arranged in particular on a height-adjustable, for example telescopic, base.

[0028] This achieves the technical advantage that advantageous picking of objects is possible both through a flat kinematics of the robot arm and through an articulated arm robot.

[0029] According to one embodiment, the order picking module has a module load-handling device.

[0030] This achieves the technical advantage that the modular load handling device allows the picking module itself to pick up a pallet, for example a target pallet, and objects to be picked, so that no accompanying vehicle is necessary.

[0031] This object is achieved according to a second aspect by an order picking system for the automatic order picking of objects comprising an industrial truck and an order picking module according to the first aspect, wherein the industrial truck has a load handling device, wherein the lifting mast of the mobile order picking module is reversibly coupled to the load handling device of the industrial truck.

[0032] This achieves the technical advantage that the industrial truck with the reversibly coupled order picking module enables advantageous order picking of objects and also advantageous environmental monitoring. According to one embodiment, the industrial truck has a controller configured to control a lifting drive for raising and lowering the robot arm on the lifting mast and / or at least one arm drive for displacing the robot arm and the pick-up tool depending on the sensor signal generated by the environmental sensor.

[0033] This achieves the technical advantage that, depending on the sensor signal provided by the environmental sensor of the picking module, either the lifting mast and / or the robot arm can be advantageously controlled or not.

[0034] According to one embodiment, the controller is designed to activate the lifting drive and / or the at least one arm drive to stop the movement of the robot arm when the environmental sensor detects an obstacle in the surrounding area of ​​the picking module.

[0035] This achieves the technical advantage that a collision of the picking module with the obstacle can be prevented by stopping the movement of the robot arm.

[0036] According to one embodiment, the industrial truck has a travel drive for moving the industrial truck, wherein the controller is designed to activate the travel drive to stop the movement of the industrial truck when the environmental sensor detects an obstacle in the surrounding area of ​​the order picking module, or wherein the controller is designed to activate the travel drive to initiate an evasive movement of the industrial truck when the environmental sensor detects an obstacle in the surrounding area of ​​the order picking module.

[0037] This achieves the technical advantage that a collision of the picking module with the obstacle can be prevented by stopping the movement of the industrial truck or by performing an evasive movement. According to one embodiment, the picking system comprises an external server with an external controller, which is communicatively connected to the industrial truck via a further communication interface. The external controller is configured to assign a model number of the picking module reversibly coupled to the industrial truck to a model number of the industrial truck.

[0038] This provides the technical advantage that the external control system can book the picking module and the industrial truck to each other, thus ensuring efficient operations and, in particular, preventing the same picking module from being assigned to different industrial trucks at the same time.

[0039] According to one embodiment, the order picking system comprises an external server with an external controller, which is communicatively connected to the industrial truck via a further communication interface, wherein the external controller is designed to transmit order picking orders to the industrial truck via the further communication interface.

[0040] This provides the technical advantage that the external server enables effective fleet operation of a large number of mobile order picking systems.

[0041] According to one embodiment, the order picking system comprises an accompanying mobile transport robot with a load-handling device, wherein the robot arm of the industrial truck is designed to place objects picked up by the picking tool onto the load-handling device of the accompanying mobile transport robot.

[0042] This achieves the technical advantage that the accompanying mobile transport robot enables effective picking of objects to be picked.

[0043] According to one embodiment, the order picking system comprises a picking station which can be approached by the accompanying mobile transport robot, wherein the picking station is designed to pick the objects stored on the load-handling device of the accompanying mobile transport robot.

[0044] This provides the technical advantage that the picking station enables a particularly effective picking process in a variety of mobile picking systems.

[0045] According to one embodiment, the industrial truck can be designed as an autonomous industrial truck or a manually guided industrial truck. The industrial truck can be designed, for example, as a pallet truck, such as a low-lift or high-lift truck, a counterbalance forklift, or a reach truck.

[0046] Further advantages and details of the invention are explained in more detail by way of example with reference to the exemplary embodiments illustrated in the schematic figures. Herein, show:

[0047] Figures 1 and 2 show a picking system for the automatic picking of objects comprising an industrial truck and a picking module that can be reversibly coupled to the industrial truck according to an embodiment of the present invention; and

[0048] Figure 3 shows an order picking system comprising an industrial truck with a reversibly connectable order picking module, as well as an external server and an accompanying mobile transport robot according to an embodiment of the present invention.

[0049] Figures 1 and 2 show an order picking system 1 for the automatic order picking of objects comprising an industrial truck 2 and an order picking module 3 that can be reversibly coupled to the industrial truck 2 according to an embodiment of the present invention.

[0050] Figure 1 shows the industrial truck 2 and the picking module 3 of the picking system 1 in a separate state, whereas Figure 2 shows the industrial truck 2 and the picking module 3 in a reversibly coupled state. The picking system 1 shown in Figures 1 and 2 is used for automatic picking, i.e., the assembly of specific objects, in particular goods in warehouses or goods distribution centers, from a provided overall assortment.

[0051] In the illustrated embodiment, the industrial truck 2 is designed as a low-lift truck. The industrial truck 2 further comprises a load-handling device 4, which in particular comprises forks 5. The load-handling device 4 can be moved vertically during an initial lift by a lifting drive of the industrial truck 2 (not shown in Figures 1 and 2).

[0052] The industrial truck 2 shown in Figures 1 and 2 is designed, for example, as an autonomous industrial truck and has a travel drive and a steering drive and can navigate and locate itself autonomously in the environment.

[0053] As can be seen from Figures 1 and 2, the order picking module 3 can be reversibly coupled to the industrial truck 2 by inserting the load handling device 4, in particular the forks 5 of the load handling device 4, into a receiving device 6, in particular receiving shafts of the receiving device 6, of the order picking module 3.

[0054] In particular, the picking module 3 has a locking element designed to lock the picking module 3 to the load-handling device 4 of the industrial truck 2, for example, a fork carriage and / or the forks 5. The locking mechanism can be clamped or latched and can be engaged manually or actively. Furthermore, the locking mechanism can be opened or closed automatically, allowing the attachment change to be carried out fully autonomously.

[0055] Thus, the picking module 3 can advantageously be coupled to the industrial truck 2, as shown in Figure 2, and the picking module 3 can also advantageously be decoupled from the industrial truck 2, as shown in Figure 1. The decisive factor here is that the picking module 3 can work autonomously, i.e. the picking module 3 has its own lifting mast 7 and its own robot arm 8, which can be raised and lowered on the lifting mast 7 by a lifting drive of the picking module 3 (not shown in Figures 1 and 2), or which can be moved horizontally by an arm drive of the picking module 3 (not shown in Figures 1 and 2). In addition, a picking tool 9 connected to the robot arm 8 for picking objects is arranged on the robot arm 8, so that advantageous independent picking of the objects is achieved by the picking module 3.

[0056] Here, the robot arm 8 is designed as a SCARA robot arm 8. The robot arm 8 has, in particular, flat kinematics and is horizontally aligned when coupled. Even if this is not shown in Figures 1 and 2, the robot arm 8 can alternatively be designed as an articulated-arm robot, which is arranged, in particular, on a height-adjustable, for example, telescopic, base. However, the robot arm 8 can also be designed as a kinematics with translational axes.

[0057] The picking module 3 is thus designed for a comprehensive picking process without the industrial truck 2; only the movement of the picking module 3 in the warehouse is made possible by the industrial truck 2.

[0058] The industrial truck 2 can ensure effective pickup or coupling with the picking module 3 through the appropriate initial lift of the load handling device 4 and the insertion of the forks 5 into the pickup device 6 of the picking module 3. Due to the presence of this standardized interface of the forks 5, the picking module 3 can thus be picked up and operated by a wide variety of industrial trucks 2. After completing the picking activity, the corresponding industrial truck 2 can park the picking module 3 again, and the corresponding industrial truck 2 is available for other activities.

[0059] In order to provide sufficient electrical energy for the operation of the picking module 3, the picking module 3 has its own battery 10, as shown in Figures 1 and 2. Alternatively or additionally, the picking module 3 can have an electrical interface which can be coupled to a power supply, in particular a battery, of the industrial truck 2. In particular, this coupling of the electrical interface can be established automatically when the picking module 3 is picked up onto the forks 5. As a result, the picking module 3 draws the required electrical energy from the industrial truck 2, which generally has a significantly larger battery, resulting in a weight saving for the picking module 3, since a smaller battery 10 can be used for this, and a necessary charging process for the picking module 3 is eliminated.

[0060] However, effective sensor detection of the environment is crucial for collision-free operation of the picking system 1 in the warehouse. However, when using the picking module 3 on an industrial truck 2 designed as an autonomous industrial truck, the problem arises that the outer contour of the autonomous industrial truck 2 is enlarged due to protruding parts of the picking module 3, so that frequently used environmental sensors of the autonomous industrial truck 2 cannot be used or can only be used to a limited extent.

[0061] For this reason, according to the present invention, the picking module 3 has an environmental sensor 11, which is designed to detect an environmental area of ​​the picking module 3 and generate a sensor signal. A communication interface of the picking module 3 (not shown in Figures 1 and 2) is designed to connect the environmental sensor 11 to a controller of the autonomous industrial truck 2 (not shown in Figures 1 and 2) and to transmit the generated sensor signal to the controller of the autonomous industrial truck 2.

[0062] Thus, the environmental sensor 11 can effectively detect obstacles in the surrounding area of ​​the picking module 3, and the corresponding position of the obstacles in the surrounding area of ​​the picking module 3 can be effectively transmitted to the controller of the autonomous industrial truck 2 via the sensor signal. The controller of the industrial truck 2 is configured to control the lifting drive for raising and lowering the robot arm 8 on the lifting mast and / or the at least one arm drive for displacing the robot arm 8 and the pick-up tool 9 depending on the sensor signal detected by the environmental sensor 11.

[0063] In particular, the control of the industrial truck 2 is designed to activate the lifting drive and / or the at least one arm drive to stop the movement of the robot arm 8 when the environmental sensor 11 detects an obstacle in the surrounding area of ​​the order picking module 3.

[0064] This prevents a collision of the robot arm 8 with the detected obstacle and enables safe operation of the order picking module 3 on the industrial truck 2.

[0065] The controller of the industrial truck 2 is designed to activate the drive to stop the movement of the industrial truck 2 when the environmental sensor 11 detects an obstacle in the surrounding area of ​​the order picking module 3, or the controller is designed to activate the drive to initiate an evasive movement of the industrial truck 2 when the environmental sensor 11 detects an obstacle in the surrounding area of ​​the order picking module 3.

[0066] This can also prevent a collision of the industrial truck 2 with the detected obstacle.

[0067] The following advantages are achieved by using the picking module 3.

[0068] The picking module 3 can be built as a standalone module, which has no driving functions and a reduced complexity. The complexity and thus the development effort of the picking module 3 are significantly lower, since no driving functions and associated navigation need to be provided. For this purpose, already established and existing industrial trucks 2 are used, and the picking module 3 is cost-effective due to the elimination of the driving function. The picking module 3 can be picked up, transported, and operated by many different industrial trucks 2. Various reach trucks as well as counterbalance forklifts can be used. It is also conceivable for use on vertical order pickers. However, the picking module 3 is preferably picked up by the simplest industrial trucks 2 that only have a free lift, for example low-lift trucks.The aforementioned industrial trucks can be designed as autonomous or non-autonomous, for example manually guided, industrial trucks.

[0069] Different picking modules 3 can be selected for different orders. Different ones may be required for picking processes at high altitudes than at low altitudes. The picking module 3 represents a highly flexible system. Other autonomous picking modules 3 (with driving function) may not be suitable for some applications because the driving function is too slow to ensure economical operation.

[0070] The interface, designed as a fork 5, is standardized and established throughout the industry. A large number of industrial trucks 2 are available. The utilization of the industrial truck 2 can be increased.

[0071] Order peaks often occur, meaning that a lot of effort has to be put into the replenishment process, the goods receipt process, or the picking process in a short space of time. Excess capacity of industrial trucks 2 is generally kept on reserve for such peaks. In an autonomously operated warehouse, excess capacity of autonomous industrial trucks is therefore kept on reserve in the goods receipt, for the replenishment, and for the picking process. However, all autonomous industrial trucks used are special-purpose vehicles. The present invention enables the use of flexibly deployable autonomous industrial trucks, for example low-lift trucks. These can perform several of the activities required in a warehouse and can, for example, use fork tines 5 to replenish and then pick up the picking module 3 and thus pick.The utilization of the autonomous industrial trucks 2 is increasing and the same reliability can be guaranteed with fewer vehicles.

[0072] Figure 3 shows an order picking system comprising an industrial truck 2 with a reversibly connectable order picking module 3, as well as an external server 12 and an accompanying mobile transport robot 14 according to an embodiment of the present invention. For the explanations regarding the industrial truck 2 with a reversibly connectable order picking module 3, reference is made to the explanations for Figures 1 and 2.

[0073] Figure 3 shows that the order picking system 1 comprises an external server 12 with an external controller (not shown), which is communicatively connected to the industrial truck 2 via a schematically illustrated additional communication interface 13. The external controller is designed to assign a model number of the communication module 3 reversibly coupled to the industrial truck 2 to a model number of the industrial truck 2.

[0074] In addition, the external control of the server 12 can be designed to transmit picking orders to the industrial truck 2 via the further communication interface 13.

[0075] From Figure 3 it can also be seen that the order picking system 1 comprises an accompanying mobile transport robot 14 with a load-handling device 4, wherein the robot arm 8 of the order picking module 3 arranged on the industrial truck 2 is designed to place objects picked up by the picking tool 9 on the load-handling device 4 of the accompanying mobile transport robot 14.

[0076] The order-picking system 1 further comprises a picking station 15, which can be approached by the accompanying mobile transport robot 14, wherein the picking station 15 is designed to pick the objects stored on the load-handling device 4 of the accompanying mobile transport robot 14. Reference numeral hste

[0077] 1 picking system

[0078] 2 Industrial truck, especially autonomous industrial truck 3 Order picking module

[0079] 4 load handling equipment

[0080] 5 forks

[0081] 6 Mounting device

[0082] 7 Lifting mast 8 Robot arm

[0083] 9 Recording tool

[0084] 10 Battery

[0085] 11 Environmental sensor

[0086] 12 External server 13 Additional communication interface

[0087] 14 Accompanying mobile transport robot

[0088] 15 picking stations

Claims

Patent claims 1. Order picking module (3) which can be reversibly coupled to an industrial truck (2) for the automatic order picking of objects, the order picking module (3) comprising: a lifting mast (7) which can be arranged on a load-handling means (4) of the industrial truck (2) and can be reversibly coupled to the load-handling means (4) of the industrial truck (2), a robot arm (8) and a picking tool (9) connected to the robot arm (8) for picking up the objects, wherein the robot arm (8) is arranged on the lifting mast (7) so as to be raiseable and lowerable, characterized in that the order picking module (3) has an environmental sensor (11) which is designed to detect an environmental area of ​​the order picking module (3) and to generate a sensor signal, and in that the order picking module (3) has a communication interface which is designed,to connect the environmental sensor (11) to a control system of the industrial truck (2) and to transmit the generated sensor signal to the control system of the industrial truck (2).

2. Order picking module (3) according to claim 1, characterized in that on the lifting mast (7), in particular on an underside of the lifting mast (7), a receiving device (6), in particular receiving shafts, is arranged, with which the load handling means (4) of the industrial truck (2) can be reversibly coupled, wherein in particular fork tines (5) of the load handling means (4) of the industrial truck (2) can be inserted into the receiving shafts of the receiving device (6).

3. Order picking module (3) according to claim 1 or 2, characterized in that the order picking module (3) has its own energy supply device, in particular a battery (10).

4. Order picking module (3) according to one of the preceding claims, characterized in that the order picking module (3) has an electrical interface which can be coupled to a power supply, in particular a battery, of the industrial truck (2) in order to provide electrical energy from the industrial truck (2) to the order picking module (3).

5. Order picking module (3) according to one of the preceding claims, characterized in that the order picking module (3) has a lifting drive for raising and lowering the robot arm (8) on the lifting mast (7), and / or that the order picking module (3) has at least one arm drive for displacing the robot arm (8) and the picking tool (9).

6. Order picking module (3) according to one of the preceding claims, characterized in that the communication interface comprises a wired communication interface which is designed to connect the environmental sensor (11) in a wired manner to a controller of the industrial truck (2) in a communicative manner, or in that the communication interface comprises a wireless communication interface which is designed to connect the environmental sensor (11) in a wireless manner to a controller of the industrial truck (2).

7. Order-picking module (3) according to one of the preceding claims, characterized in that the robot arm (8) is designed as a multi-armed, in particular six-armed robot arm (8), or the robot arm (8) is designed as a kinematics with translatory axes.

8. Order-picking module (3) according to claim 7, characterized in that the robot arm (8) has a flat kinematics and is aligned horizontally in the coupled state, or that the robot arm (8) is designed as an articulated-arm robot, which is arranged in particular on a height-adjustable base.

9. Order picking module (3) according to one of the preceding claims, characterized in that the order picking module (3) has a module load-carrying means.

10. Order picking system (1) for the automatic order picking of objects comprising an industrial truck (2) and an order picking module (3) according to one of the preceding claims, wherein the industrial truck (2) has a load handling means (4), wherein the lifting mast (7) of the mobile order picking module (3) is reversibly coupled to the load handling means (4) of the industrial truck (2).

11. Order picking system (1) according to claim 10, characterized in that the industrial truck (2) has a controller which is designed to control a lifting drive for raising and lowering the robot arm (8) on the lifting mast (7) and / or at least one arm drive for displacing the robot arm (8) and the picking tool (9) as a function of the sensor signal generated by the environmental sensor (11).

12. Order picking system (1) according to claim 11, characterized in that the controller is designed to activate the lifting drive and / or the at least one arm drive to stop the movement of the robot arm (8) when the environmental sensor (11) detects an obstacle in the surrounding area of ​​the order picking module (3), or wherein the controller is designed to activate the travel drive to initiate an evasive movement of the industrial truck (2) when the environmental sensor (11) detects an obstacle in the surrounding area of ​​the order picking module (3).

13. Order picking system (1) according to one of claims 10 to 12, characterized in that the industrial truck (2) has a travel drive for moving the industrial truck (2), wherein the controller is designed to activate the travel drive to stop the movement of the industrial truck (2) when the environmental sensor (11) detects an obstacle in the surrounding area of ​​the order picking module (3), or wherein the controller is designed to activate the travel drive to initiate an evasive movement of the industrial truck (2) when the environmental sensor (11) detects an obstacle in the surrounding area of ​​the order picking module (3).

14. Order picking system (1) according to one of claims 10 to 13, characterized in that the order picking system (1) comprises an external server (12) with an external controller, which is communicatively connected to the industrial truck (2) by a further communication interface (13), wherein the external controller is designed to assign a model number of the order picking module (3) reversibly coupled to the industrial truck (2) to a model number of the industrial truck (2).

15. Order picking system (1) according to one of claims 10 to 14, characterized in that the order picking system (1) comprises an external server (12) with an external controller, which is connected to the industrial truck (2) for communication purposes via a further communication interface (13), wherein the external controller is designed to transmit order picking orders to the industrial truck (2) via the further communication interface (13).

16. Order picking system (1) according to one of claims 10 to 15, characterized in that the order picking system (1) comprises an accompanying mobile transport robot (14) with a load-carrying means (4), wherein the robot arm (8) of the industrial truck (2) is designed to place objects picked up by the picking tool (9) on the load-carrying means (4) of the accompanying mobile transport robot (14).

17. Order picking system (1) according to claim 16, characterized in that the order picking system (1) comprises a picking station (15) which can be approached by the accompanying mobile transport robot (14), wherein the picking station (15) is designed to pick the objects stored on the load-carrying means (4) of the accompanying mobile transport robot (14).

18. Order picking system (1) according to one of claims 10 to 17, characterized in that the industrial truck (2) is designed as an autonomous industrial truck or a manually guided industrial truck.

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