Transfer station with improved automatic and manual transfer modes, and associated method and order-picking system

Abstract

The invention relates to a transfer station (1) for the selective automatic or manual transfer of goods (2, 2'). The transfer station (1) comprises: a robot (4) having a movable gripper (5) for automatically transferring goods (2, 2'); a working area (D) for an operator (8, 8') for manually transferring the goods (2, 2'); an output unit (9); and an input device (11a..11c) for switching between the automatic and the manual transfer mode. The transfer station (1) also comprises a parking area (E) into which the gripper (5) is moved during the manual transfer mode in order to allow the operator (8, 8') to manually transfer the goods (2, 2') without obstruction. The invention also relates to: an order-picking system (20) comprising a transfer station (1) of the type mentioned; and a method for operating such a transfer station (1).

Description

[0001] TRANSSHIPMENT STATION WITH IMPROVED AUTOMATIC AND MANUAL TRANSSHIPMENT OPERATION AS WELL AS PROCESS AND PICKING SYSTEM

[0002] The invention relates to a transfer station for the optionally automatic or manual transfer of goods, in particular in a picking system, and comprises a staging area for staging goods and a delivery area for delivering the goods, which is arranged remotely from the staging area. Furthermore, the transfer station comprises a robot, in whose operative area the staging area and the delivery area lie and which has a gripper that can be moved in space (by means of a drive device) to pick up the goods in the staging area and deliver them to the delivery area. Furthermore, the transfer station comprises a work area in which a work platform is arranged, on which an operator can move, wherein the work area is arranged such that the operator can pick up the goods in the staging area and deliver them to the delivery area.In addition, the transfer station comprises a robot controller for the robot and an output unit (in particular arranged in or near the work area), which are connected to an order computer and configured to receive orders for transferring the goods sent by the order computer. Finally, the transfer station comprises an input device for receiving an input, wherein the input can be used to request a change to an automatic transfer mode or to a manual transfer mode. The robot controller is further configured to process received orders in the (selected) automatic transfer mode and to control an automatic movement of the goods assigned to the order from the staging area to the delivery area by the robot's gripper in accordance with one of the orders.The output unit is further configured to process received orders in the (selected) manual reloading mode and to issue reloading instructions (derived or generated from the orders) and thus to cause the operator to manually move the goods assigned to the order from the staging area to the delivery area in accordance with one of the orders.

[0003] The invention further relates to a picking system, in particular for processing reloading orders, wherein the picking system comprises a storage area for storing goods, a reloading station for reloading goods, and a conveyor system for transporting the goods. The reloading station is designed as described above, and the conveyor system is connected to its staging area and delivery area. The reloading orders can comprise a picking order or a consolidation order, the latter also including an inventory of the stored goods (determining the number of goods in the source container or checking whether the source container is loaded with the same type of goods) or the creation and maintenance of master data (determining orchecking the weight, shape, dimensions of the goods in the source container) or entering this master data into an article master database or dense packing of goods in the source containers (i.e. maintaining the optimal fill level of the source containers) or the recognition of newly added goods, i.e. goods to be stored in source containers.

[0004] Furthermore, the invention relates to a method for the optional automatic or manual reloading of goods, in particular with a reloading station of the above-mentioned type or in particular in a picking system of the above-mentioned type, which comprises the following steps:

[0005] Providing a staging area for staging a product, Providing a delivery area which is located away from the staging area,

[0006] Providing a robot that includes a gripper that can be moved in space and in whose range the supply area and the delivery area are located,

[0007] Providing a work area in which a work platform is arranged on which an operator can move, and which is arranged in such a way that the operator can pick up the goods in the supply area and deliver them in the delivery area,

[0008] Providing a robot control unit for the robot and an output unit, which are connected to an order computer (for data purposes) and are configured to receive orders sent by the order computer for reloading the goods,

[0009] Providing an input device for receiving an input, by means of which input a change to an automatic reloading mode or to a manual reloading mode can be requested, in automatic reloading mode, by means of the robot control, processing received orders and controlling an automatic movement of the goods assigned to the order from the staging area to the delivery area by the gripper of the robot in accordance with one of the orders, and in manual reloading mode, processing received orders and outputting reloading instructions derived from the orders by the output unit and thus causing a manual movement of the goods assigned to the order from the staging area to the delivery area by the operator in accordance with one of the orders.

[0010] Finally, the invention relates to a method for the optionally automatic or manual reloading of goods with a reloading station of the above-mentioned type.

[0011] A transfer station, a picking system, and methods of the aforementioned type are generally known from the prior art. For example, EP 3 738 719 A1 discloses a picking robot with a movable base and a gripper arm arranged on the base for picking goods at a goods-to-person picking workstation. The picking robot comprises a support arm, attached to the base independently of the gripper arm, for carrying at least one camera for capturing image data for the picking process, in order to simplify retrofitting or converting a picking station.

[0012] The problem is that the robot has to be moved into or out of the transfer station when changing transfer modes. This makes changing transfer modes inconvenient, slow, and highly error-prone.

[0013] Furthermore, the current picking robot does not allow for straightforward error handling or troubleshooting during automatic operation, for example, if an item accidentally falls from the gripper. To correct a malfunction, the robot must be shut down, a locking mechanism must be released, and the robot must be pushed away to resolve the malfunction. The robot must then be pushed back to its location, locked there, and put back into operation. In particular, the robot must learn its new position if it does not assume exactly the same pose as before when returned to its location.

[0014] Finally, it is not visually apparent at the transfer station whether automatic mode is activated when the robot is not moving. This can lead to confusion between manual and automatic transfer mode. This can result in disruptions in transfer mode and injuries to the operator caused by the robot. One object of the invention is therefore to provide an improved transfer station, an improved order picking system, and an improved method for transferring goods. In particular, the aforementioned disadvantages are to be overcome.

[0015] The object of the invention is achieved by a transfer station of the type mentioned at the outset, in which the robot is fixedly mounted in the transfer station, the transfer station comprises a parking area which is within the range of action of the robot but outside the provision area, the delivery area and the work area, and into which the gripper (and optionally the drive device) can be moved (is movable) in order to enable unhindered manual transfer of the goods by the operator, and the robot control is further configured to allow movement of the gripper out of the parking area in automatic transfer mode and to control parking of the gripper in the parking area in manual transfer mode.

[0016] In particular, the transfer station can be configured to handle a (visual and / or acoustic) output of the output unit differently in automatic transfer mode and in manual transfer mode. For example, the transfer station can be configured to handle the output of transfer instructions differently in automatic transfer mode and in manual transfer mode. The different handling of the output of the output unit or the different handling of the output of transfer instructions in automatic transfer mode and in manual transfer mode can be carried out in particular by the output unit itself. However, it is also conceivable that the output unit is controlled accordingly for this purpose. Control can be carried out in particular by a control device connected to the output unit.

[0017] The object of the invention is further achieved by a picking system of the type mentioned at the outset, in which the transfer station corresponds to the type mentioned above.

[0018] The object of the invention is also achieved by a first-mentioned method of the type described at the outset, in which a parking area is provided which lies within the range of action of the robot but outside the provision area, the delivery area and the work area, and into which the gripper can be moved (is movable) in order to enable unhindered manual reloading of the goods by the operator, in manual reloading mode a parking of the gripper in the parking area is controlled and in automatic reloading mode a movement of the gripper out of the parking area is permitted, and an output of the output unit is treated differently in automatic reloading mode and in manual reloading mode.

[0019] The object of the invention is also achieved by a second method of the type described above, comprising the steps

[0020] Receiving a request to switch to manual reloading mode on the input device or

[0021] Receiving a request to switch to automatic reloading mode at the input device.

[0022] In one version, the following steps can be carried out in manual reloading mode:

[0023] Parking of the gripper (and if necessary the drive device) in the parking area by the robot controller,

[0024] Receiving orders sent from the order computer in the output unit and

[0025] Issuance of reloading instructions for orders to the operator by the output unit, so that the operator manually moves the goods assigned to the order from the staging area to the delivery area in accordance with one of the orders.

[0026] In another variant, the following steps can be carried out in automatic reloading mode:

[0027] Preventing or altering the output of the output unit by the transfer station,

[0028] Receiving orders sent from the order computer in the robot controller and

[0029] Processing the orders and controlling the automatic movement of the goods assigned to the order from the staging area to the delivery area using the robot's gripper according to one of the orders by the robot controller. In particular, the process steps can be executed in the specified order. Furthermore, the sequences of steps disclosed for manual reloading and automatic reloading can also be provided together in a reloading station.

[0030] In the given context, “preventing output” can be understood to mean, in particular, suppressing an output, switching the output unit into a standby mode or switching the output unit off.

[0031] The measures specified will achieve the following advantages in particular:

[0032] When changing transfer modes, the robot does not need to be moved into or out of the transfer station, as is the case with current technology. This makes changing transfer modes more convenient, faster, and less error-prone.

[0033] Advantageously, the proposed transfer station also enables straightforward error handling or troubleshooting during automatic operation. In particular, goods that have accidentally fallen from the gripper during the transfer process can be easily detected, grasped, and removed by the operator. For this purpose, the operator can temporarily switch to manual transfer mode to ensure safe intervention.

[0034] If the output of the output unit is handled differently in automatic reloading mode and manual reloading mode, it is also immediately apparent from the output unit that automatic mode is activated, even if the robot (specifically, the moving part of the stationary, i.e., fixedly mounted robot) is not moving. This avoids confusion between manual and automatic reloading mode.

[0035] As already mentioned, the staging area and the delivery area are located both within the robot's operating area and within the operator's work area. In other words, the robot's operating area and the operator's work area overlap and form an overlap area. An operator in the work area can therefore be hindered in their movement by the robot unless special measures are taken. According to the proposal, the robot's gripper (and possibly also a robot drive device) is parked in the parking area during manual reloading mode (i.e., moved there and left there until switching to automatic reloading mode). The work area extends in particular between the staging area and the delivery area and includes them.

[0036] This advantageously enables ergonomic movement sequences for both the operator and the robot. For example, the output unit and / or the input device can be arranged approximately centrally between the supply area and the delivery area. Preferably, the robot is also arranged symmetrically between the supply area and the delivery area. This prevents one-sided wear on bearings and the like.

[0037] The statement “for optional automatic or manual reloading” can be understood to mean that the reloading station is designed for an automatic and manual reloading mode of operation and that one of the two modes of operation can be selected (selectable) successively.

[0038] The statement "Parking the gripper in the parking area" specifically means that the gripper is moved into the parking area during manual transfer mode and left there until switching to automatic transfer mode. Preferably, the gripper remains motionless there, but it is also conceivable that the robot can perform further actions within the parking area, such as changing a gripper.

[0039] A "work platform" can, for example, be a work platform in the work area, which can be raised and lowered relative to the staging and delivery areas, if necessary, to allow adjustment to the operator's height. However, the work area can also be located on a hall floor, for example.

[0040] A "drive device" of a robot can be understood, in particular, as robot arms or articulated arms of an articulated-arm robot or the motion axes of a gantry robot. The robot can preferably comprise a robot base, with or via which it is fixedly mounted in the transfer station.

[0041] "Orders" can be reloading orders, for example for compacting source containers (the fill level of a storage container is changed), orders related to inventory, master data maintenance, etc., or picking orders with a number of goods assigned to a picking order. A picking order can comprise one or more order lines, with the order lines representing individual sub-orders. The reloading orders can therefore also refer to such sub-orders. Orders can be received in the robot and in the display unit directly from the order computer or via the interposition of additional modules, in particular via a control device. These modules can forward orders unchanged or even change their content.Accordingly, there are data connections between the robot under the order computer and between the display unit and the order computer, which can be wired and / or wireless. It is also conceivable that the orders are received only by the robot in automatic reloading mode and only by the output unit in manual reloading mode. It is also conceivable that orders are always received jointly by the robot and the output unit. However, orders received by the robot in manual reloading mode do not result in their execution in the robot (they are therefore suppressed). Orders received by the output unit in automatic reloading mode can, but do not have to, be output.

[0042] The output unit can be designed, for example, as a screen, a laser projector for marking the goods to be reloaded and / or the storage location, or as a loudspeaker, or can comprise the aforementioned components and can be stationary or mobile. The reloading instructions, in particular picking instructions, can therefore be provided visually or acoustically (in particular in the form of a voice output). A reloading instruction can, for example, include the quantity and / or type of goods to be reloaded.

[0043] The input device can be designed to receive a manual input, in particular a manual input from the operator or a person in a control center (central control system). By means of this manual input, a change to automatic reloading mode or to manual reloading mode can be requested. In other words, the input device receives a request to change the reloading mode. The control center can be set up, in particular, to control processes at multiple reloading stations or processes in a picking system with multiple such reloading stations. The input device can be designed, for example, as a button, screen, keyboard, microphone, or even as a reading device (in particular for reading a barcode or RFID tag arranged on the goods), and can be stationary or mobile.

[0044] The input device and the output unit can also be part of a combined input and output unit and, for example, be designed as a touchscreen. The input device can also be designed as a multi-part system with spatially separated input means (i.e., with first input means, second input means, etc.).

[0045] The input device can be stationary or mobile and, for example, comprise a push-button switch with an actuation button for switching between automatic and manual reloading mode. The input device can also comprise a first actuation button for switching to automatic reloading mode and a second actuation button for switching to manual reloading mode. It is also conceivable for the input device to have no physical actuation buttons, but rather be designed as a touchscreen on which pictorial actuation buttons are displayed, and touching the touchscreen (a touch event) is detected by software. A switching signal (control signal) can be generated, for example, by tapping the corresponding area of ​​the touchscreen once or twice.According to one embodiment, switching to automatic reloading mode can take place in a two-stage process, wherein, in a first step, a first actuating button on the combined input and output unit designed as a touchscreen triggers the output of behavioral instructions for the operator. In a second step, compliance with the behavioral instructions is monitored and, if fulfilled, the control signal for automatic reloading mode is output. The behavioral instructions can include an instruction to the operator, namely, to perform an exit acknowledgment on an input device located outside the work area (first input device) upon leaving the work area and / or to perform the switching to automatic reloading mode using the input device located outside the work area (second input device).The behavioral instructions can further include an instruction to the operator to move the output unit to a defined position, wherein the output unit is designed to be movable, in particular pivotable, in this case. According to a further aspect of the invention, the input device can be arranged in a control center, and the switchover request is made in the control center. In this case, the operator can be informed in advance about the switchover to manual transfer mode. Preferably, the operator can be sent a message to their smartphone indicating at what time they should come to the transfer station (and, if there are multiple transfer stations, which transfer station).

[0046] Preferably (for safety reasons), the operator must perform an entry / exit confirmation (using additional input devices) before each entry or exit of the work area (which is sent to the job computer or the control device).

[0047] Further advantageous embodiments and developments of the invention emerge from the subclaims and from the description in conjunction with the figures.

[0048] It is advantageous if an action carried out by the transfer station in automatic transfer mode, in particular concerning the output of the output unit, is selected from the following group: output of the transfer instructions by means of the output unit in an enlarged and / or brighter display and / or with increased volume, suppression of the output of the transfer instructions, setting the output unit into standby mode or switching off the output unit (i.e. disconnecting from a power supply), and / or if an action carried out by the transfer station in manual transfer mode, in particular concerning the output of the output unit, is selected from the following group: output of the transfer instructions by means of the output unit in a reduced and / or darker display and / or with reduced volume, output of the transfer instructions, waking up the output unit from standby mode or switching on the output unit (i.e.Connect to a power supply).

[0049] In particular, the output or suppression of reload instructions, the change in the display of the reload instructions, and the switching to standby mode can be controlled directly in the output unit. However, these actions, as well as the switching on and off, can also be controlled by a control device.

[0050] In automatic reloading mode, reloading instructions can be generated by the robot controller based on the orders and transmitted to the output unit, preferably for output in an enlarged view. This advantageously allows people to observe current robot operations from a distance to the reloading station (especially from outside the work area). If necessary, the output unit can also output information related to reloading instructions, such as the remaining processing time for pending orders, upon a switchover request.

[0051] Alternatively, the reloading instructions can be generated by the output unit itself based on the received orders. It can also be provided that the control device generates the reloading instructions based on the received orders and transmits them to the robot controller and / or output unit. It is also conceivable that the reloading instructions are generated by the order computer and transmitted to the output unit.

[0052] It is also advantageous if a control device is provided in the transfer station, which is connected to the input device, the robot controller and the output unit and which generates associated control signals from the input received at the input device and transmits these to the robot controller and the output unit.

[0053] The robot controller and the output unit can receive these control signals, which are associated with a switchover to automatic reloading mode or to manual reloading mode, and derive therefrom the measures already disclosed above.

[0054] The control signals generated by the control device and transmitted to the robot controller can, in particular, comprise an automatic mode robot signal (AR signal) for switching to automatic reloading mode and a manual mode robot signal (MR signal) for switching to manual reloading mode. The control signals generated by the control device and transmitted to the output unit can, in particular, comprise an automatic mode output unit signal (AA signal) for switching to automatic reloading mode and a manual mode output unit signal (MA signal) for switching to manual reloading mode.

[0055] The control device can also be connected to the order computer and receive orders from it and forward them to the robot controller and the output unit. Inputs to the input device can be made by the operator or by a person at a control station, with the control station being configured in particular to control processes at multiple transfer stations or processes in a picking system with such transfer stations.

[0056] It is further advantageous if the transfer station in the work area comprises an acknowledgment device which is data-linked to the order computer and configured to receive an input of order completion for an order from the operator and to confirm processing of the order to the order computer. This provides the order computer with feedback about a completed order, which can trigger (or can be triggered) the transmission of a next order to the output unit. Preferably, the acknowledgment device can be data-linked to the order computer via the control device. The control device can then be configured to forward a message about order completion to the order computer. If necessary, this message can also be modified by the control device.

[0057] It is also advantageous if the control device is further configured to activate the acknowledgment device in manual reloading mode to obtain acknowledgment of order completion, and to deactivate the acknowledgment device in automatic reloading mode. For this purpose, the control device can send appropriate control signals to the acknowledgment device. The proposed measures ensure that the acknowledgment device is only active in manual reloading mode, thereby avoiding unforeseen malfunctions that could be caused by inputs to the acknowledgment device in automatic mode.

[0058] It is particularly advantageous if the order computer or the control device is configured, upon receipt of a request to switch the reloading operation, to check, before actually switching the reloading operation, whether the goods assigned to the order have already been reloaded (by a current reloading device), and to delay the switchover and continue processing the order (by the current reloading device) until the goods assigned to this order have been reloaded (by the current reloading device), and to then switch the reloading operation when the reloading of the goods in the order has been completed. A "reloading device" is either the operator or the robot. Orders started by a reloading device are preferably completed before the reloading operation is switched and handed over to a subsequent reloading device.For example, if the robot has already reloaded an item from an order, the remaining items from that order will also be reloaded by the robot according to this embodiment. To achieve this, the switch from reloading mode is delayed until the order has been completed by the robot. Only then does it switch to manual reloading mode. Switching from manual reloading mode to automatic reloading mode can be performed in a similar manner. The first step is to check whether the operator has already reloaded an item from an order. Depending on this, the system switches to automatic reloading mode immediately or later.

[0059] The term "goods" in the above context does not mean that an order can only contain a single item. Of course, an order can also contain multiple items. In this case, it must be checked whether all the goods assigned to the order have already been reloaded (by a current transshipment facility), or the switchover is delayed and processing of the order continues until all the goods assigned to this order have been reloaded (by the current transshipment facility).

[0060] In a preferred embodiment, it can be provided that the switching of the reloading operation is only delayed if further goods belonging to the order in question are present in a conveyor system leading to the staging area and are waiting to be made available in the staging area, and that the reloading operation is switched over immediately if this is not the case.

[0061] Furthermore, it is particularly advantageous if the transfer station or the order computer or the control device is configured, upon receipt of a request to switch the transfer operation from the input device, to check, before actually switching the transfer operation, whether goods for a first order are already present in a conveyor system leading to the staging area (or goods for several first orders are present) and are waiting for a staging in the staging area that cannot be processed by a replacing transfer device, and to delay the switchover and to continue processing of the said order (or orders) by the current transfer device until goods for a second order that can be processed by the replacing transfer device are ready or can be made ready (can be made ready) in the staging area.where the robot is the current transfer device and the operator is the replacement transfer device or vice versa.

[0062] The "transfer device" is again either the operator or the robot. There may be goods that the robot cannot handle or cannot handle well (e.g. goods that are too soft, too bulky, etc.). Likewise, there may be goods that the operator cannot handle well (e.g. goods that are too small, too heavy, etc.). If, for example, a switch from automatic transfer mode to manual transfer mode is requested, the first step is to check whether there are already goods on an incoming conveyor system that the operator cannot or cannot easily transfer. If this is the case, automatic operation continues until goods are available or can be made available that the operator can transfer or can easily transfer. If this is not the case, the system immediately switches to manual transfer mode.Switching from manual reloading mode to automatic reloading mode can be done in a similar way. The first step is to check whether any goods are already present on an incoming conveyor system that the robot cannot or cannot easily reload. Depending on this, automatic reloading mode is switched on immediately or later.

[0063] In this context, the term "goods" does not mean that an order can only contain a single item. Of course, an order can also contain multiple items. In this case, it must be checked whether all the goods assigned to the first order(s) have already been reloaded by a current reloading device. Alternatively, the switchover is delayed and processing of the first order(s) continues until all the goods assigned to this order(s) have been reloaded by the current reloading device.

[0064] It is also advantageous if at least part of the work area is defined by a spatial boundary, to which an access area leads. This practically eliminates the possibility of the operator accidentally entering the work area or significantly reduces the risk of such an occurrence. It is also advantageous if the transfer station has a monitoring device for detecting the presence of the operator within the robot's operating range and / or in the work area in which the work platform is located, for emitting a release signal if no operator is detected, and for emitting a safety signal if an operator is detected.

[0065] As already mentioned, the robot's effective range and the operator's workspace overlap. Consequently, an operator in the workspace is exposed to a potential hazard unless special measures are provided to prevent such a hazard. By appropriately evaluating the release signal and safety signal, it is possible to prevent the robot from moving within the robot's effective range while an operator is present, thereby injuring the operator, particularly fatally. With this design variant, automatic reloading is only possible when the release signal is present.If a person enters the work area during automatic reloading operation without authorization, an emergency stop can also be provided for the robot, for example in which the robot is immediately disconnected from the power supply and thus comes to an immediate standstill in order to protect the person from injury.

[0066] In one embodiment, the access area can be secured by a monitoring device, which is designed, for example, as a directional grid, as a radar sensor or as a LiDAR sensor, wherein the monitoring device is provided and designed to emit an enable signal or a safety signal.

[0067] The emergency stop can preferably be controlled by the control device depending on the presence of the safety signal. In one embodiment, the monitoring device can be designed as a distance sensor and output a safety signal with distance or position information. In this case, the robot can be controlled depending on the distance or position information, for example, into a mode in which it moves more slowly when the operator approaches.

[0068] It is advantageous if the conveyor system is configured to deliver a first loading aid in the staging area, with the goods being stored in the first loading aid, and to deliver a second loading aid in the delivery area, with the goods being transferred into the second loading aid. The conveyor system can comprise a first conveyor system for transporting first loading aids to a first delivery device for delivering the first loading aids in the staging area and a second conveyor system for removing the first loading aids from the staging area.

[0069] The conveyor system can further comprise a third conveyor system for transporting second loading aids to a second delivery device for delivering the second loading aids in the delivery area and a fourth conveyor system for transporting the second loading aids away from the delivery area.

[0070] According to a preferred embodiment, the first and second conveyor systems are aligned adjacent to one another, at least in sections, preferably running approximately parallel to one another. Furthermore, the first delivery device advantageously comprises a first deflection conveyor system. According to a further preferred embodiment, the third and fourth conveyor systems are aligned adjacent to one another, at least in sections, preferably running approximately parallel to one another. Advantageously, the second delivery device comprises a second deflection conveyor system. This advantageously enables the realization of a compact transfer station with advantageous conveyor connection, particularly to the storage area of ​​the order-picking system.

[0071] The conveyor technology can include stationary conveyor devices (e.g. roller conveyors, conveyor belts) and / or mobile conveyor technology, in particular conveyors with their own drive (e.g. driverless transport vehicles, autonomous mobile industrial trucks).

[0072] At this point, it is noted that the design variants disclosed for the transfer station and the order-picking system and the resulting advantages also apply mutatis mutandis to the disclosed methods for transferring goods and vice versa.

[0073] For a better understanding of the invention, it is explained in more detail using the following figures.

[0074] They show in a highly simplified, schematic representation:

[0075] Fig. 1 is a schematic representation of a first exemplary transfer station in plan view; Fig. 2 is a schematic plan view of an exemplary order picking system and

[0076] Fig. 3 is a schematic representation of another exemplary transfer station in an oblique view.

[0077] By way of introduction, it should be noted that in the variously described embodiments, identical parts are provided with identical reference symbols or component designations. The disclosure contained in the entire description can be applied analogously to identical parts with identical reference symbols or component designations. Furthermore, the positional information chosen in the description, such as top, bottom, side, etc., refers to the directly described and illustrated figure and, in the event of a change in position, is to be applied analogously to the new position.

[0078] Fig. 1 shows a first exemplary transfer station 1 in a schematic plan view. The transfer station 1 is suitable for the optional automatic or manual transfer of goods 2, 2' and comprises a staging area A for staging a good 2 and a delivery area B for delivering the good 2', which is arranged remotely from the staging area A. Specifically, Fig. 1 shows a first loading aid 3 with goods 2 stored therein in the staging area A, and a second loading aid 3' with goods 2' delivered therein in the delivery area B.

[0079] The transfer station 1 further comprises a robot 4, which in this example is fixedly mounted in the transfer station 1 and in whose operating area C the provision area A and the delivery area B are located. The robot 4 comprises a gripper 5 that can be moved in space in order to pick up the goods 2 in the provision area A and deliver them to the delivery area B. In the concrete example shown, the goods 2 are removed from the first loading aid 3 and loaded into the second loading aid 3. 1 The gripper 5 can be moved by means of a drive device 6, which here is specifically designed as an articulated arm of the articulated-arm robot 4. However, the robot 4 could also be designed as a gantry robot, in which case the drive device would be the movement axes of the gantry robot.

[0080] The transfer station 1 also comprises a work area D, in which a work platform 7 is arranged, on which an operator 8 can move, and which is arranged in such a way that the operator 8 can pick up the goods 2 in the preparation area A and deliver them in the delivery area B, or that the operator 8 can remove the goods 2 from the first loading aid 3 and place them in the second loading aid 3 1 The effective area C of the robot 4 and the working area D of the operator 8 overlap each other and form an overlapping area. The operator 8' can also be outside the working area D (shown in dashed lines in Fig. 1).

[0081] The transfer station 1 further comprises a parking area E, which is located in the effective area C of the robot 4 but outside the provision area A, the delivery area B and the working area D, and into which the gripper 5 (and optionally the drive device 6) can be moved (is movable) in order to enable unhindered manual transfer of the goods 2 by the operator 8.

[0082] The transfer station 1 further comprises a robot controller (not shown in Fig. 1) of the robot 4 and an output unit 9, which are connected to an order computer 10 and are configured to receive orders for transferring the goods 2, 2' sent by the order computer 10. In the example shown in Fig. 1, the output unit 9 is arranged in the work area D (but outside it), but it could also be arranged in the work area D.

[0083] The transfer station 1 also comprises an input device 11a..11c for receiving an input, by means of which input a change to an automatic transfer mode or a manual transfer mode can be requested. The input device 11a..11c can be designed, for example, as a button, screen, keyboard, microphone, or even as a reader (in particular for reading a barcode or RFID tag arranged on the goods 2, 2') and can be stationary or mobile. The input device 11a..11c can, for example, comprise a push-button switch with an actuating button for switching between the automatic and manual transfer modes. The input device 11a..11c can also comprise a first actuating button for switching to the automatic transfer mode and a second actuating button for switching to the manual transfer mode. It is also conceivable for the input device 11a..l 1c does not have any physical operating buttons, but is designed as a touchscreen on which pictorial operating buttons are shown and touching the touchscreen (a touch event) is detected by software. A switching signal (control signal) can be generated, for example, by tapping the corresponding area of ​​the touchscreen once or twice. In a first embodiment, the input device 11a in the example shown in Fig. 1 is integrated into the output unit 9, thereby forming a combined input / output unit, which can be designed, for example, as a touchscreen. In a second embodiment, the input device 11b is designed as a separate component and arranged in the area of ​​the transfer station 1. In a third embodiment, the input device 11c is arranged in a control center, which can also be further away from the transfer station 1.An input at the input device 11c can be made by the operator or by a person at a control station, wherein the control station is configured in particular to control processes at a plurality of transfer stations 1 or processes in a picking system with such transfer stations 1. The input device 11a..11c can also be designed as a multi-part system with spatially separated input means (i.e., with first input means, with second input means, etc.).

[0084] The robot controller is configured to process received orders in the (selected) automatic reloading mode and to control the automatic movement of the goods 2 assigned to the order from the staging area A to the delivery area B by the gripper 5 of the robot 4 according to one of the orders. Furthermore, the robot controller is configured to permit movement of the gripper 5 out of the parking area E in the automatic reloading mode and to control the parking of the gripper 5 in the parking area E in the manual reloading mode.

[0085] The output unit 9 is configured to process received orders in the (selected) manual reloading mode and to output reloading instructions (derived / generated from the orders) and thus to cause the goods 2 assigned to the order to be moved manually from the staging area A to the delivery area B by the operator 8 in accordance with one of the orders.

[0086] The output unit 9 can be designed, for example, as a screen, a laser projector for marking the goods 2 to be reloaded and / or the storage location, or as a loudspeaker, or can comprise the aforementioned components and can be stationary or mobile. The reloading instructions can therefore be given visually or acoustically (in particular in the form of a voice output). A reloading instruction can, for example, contain the number and / or type of goods 2 to be reloaded. The reloading station 1 shown in Fig. 1 also has an optional control device 12, which is connected to the input device 11a..11c, the robot controller, and the output unit 9, and which generates associated control signals from the input received at the input device 11a..11c and transmits these to the robot controller and the output unit 9.The robot controller and the output unit 9 can receive these control signals, which are associated with switching to automatic reloading mode or manual reloading mode, and derive the measures already disclosed above from them. The control signals generated by the control device 12 and transmitted to the robot controller can, in particular, comprise an automatic mode robot signal (AR signal) for switching to automatic reloading mode and a manual mode robot signal (MR signal) for switching to manual reloading mode. The control signals generated by the control device 12 and transmitted to the output unit 9 can, in particular, comprise an automatic mode output unit signal (AA signal) for switching to automatic reloading mode and a manual mode output unit signal (MA signal) for switching to manual reloading mode.The control device 12 can additionally be connected to the order computer 10 and receive orders from it and forward them to the robot controller and the output unit 9 as is the case in Fig. 1.

[0087] The transfer station 1 can further comprise an acknowledgment device 13 in the work area D, as shown in Fig. 1. The acknowledgment device 13 is data-linked to the order computer 10 and configured to receive an input of order completion for an order from the operator 8 and to confirm processing of the order to the order computer 10. As a result, the order computer 10 receives feedback about a completed order, which can trigger (or can be triggered) the transmission of a next order to the output unit 9. Preferably, the acknowledgment device 13 can be data-linked to the order computer 10 via the control device 12. The control device 12 can then be configured to forward a message about order completion to the order computer 10. If necessary, this message can also be modified by the control device 12.

[0088] The control device 12 can be configured to activate the acknowledgment device 13 in manual reloading mode to obtain an acknowledgment of order completion, and to deactivate the acknowledgment device 13 in automatic reloading mode. For this purpose, the control device 12 can send corresponding control signals to the acknowledgment device 13. The proposed measures ensure that the acknowledgment device 13 is only active in manual reloading mode, thereby avoiding unforeseen malfunctions that could be caused by inputs to the acknowledgment device 13 in automatic mode.

[0089] In the area of ​​the transfer station 1 shown in Fig. 1, a first conveyor system 14 leading to the staging area A, a second conveyor system 15 leading away from the staging area A, a third conveyor system 16 leading to the delivery area B, and a fourth conveyor system 17 leading away from the delivery area B are also provided. The conveyor systems 14..17 are connected to the staging area A and the delivery area B and are intended for transporting the goods 2, 2'. The conveyor systems 14..17 can also be connected to an eager conveyor (see also Fig. 2).

[0090] The conveyor system 14, 16 can be configured to offer a first loading aid 3 in the supply area A, wherein the goods 2 are stored in the first loading aid 3, and to offer a second loading aid 3' in the delivery area B, wherein the goods 2' are loaded into the second loading aid 3 1is reloaded, as is the case in the example shown in Fig. 1. Accordingly, the first conveyor system 14 can be designed to transport first loading aids 3 to a first delivery device and to deliver the first loading aids 3 in the staging area A. The second conveyor system 15 can be designed to transport the first loading aids 3 away from the staging area A. The third conveyor system 16 can be designed to transport second loading aids 3' to a second delivery device for delivering the second loading aids 3 1 in the delivery area B. The fourth conveyor system 17 can be used to transport the second loading equipment 3 1 from the delivery area B.

[0091] According to a preferred embodiment, the first and second conveyor systems 14, 15 are aligned next to one another at least in sections, preferably running approximately parallel to one another, as is the case in Fig. 1. In addition, the first supply device advantageously comprises a first deflection conveyor system (not shown in Fig. 1, but see Fig. 3). According to a further preferred embodiment, the third and fourth conveyor systems 16, 17 are aligned next to one another at least in sections, preferably running approximately parallel to one another, as is the case in Fig. 1. Advantageously, the second supply device comprises a second deflection conveyor system (not shown in Fig. 1, but see Fig. 3 again). This advantageously makes it possible to implement a compact transfer station with advantageous conveyor system connection to a storage area of ​​an order picking system.

[0092] The conveyor technology can include stationary conveyor devices (e.g. roller conveyors, conveyor belts) and / or mobile conveyor technology, in particular conveyors with their own drive (e.g. driverless transport vehicles, autonomous mobile industrial trucks).

[0093] Advantageously, at least part of the working area D is defined by a spatial boundary 18, to which an access area F leads, as shown in Fig. 1. This practically excludes an unintentional entry of the working area D by the operator 8' or significantly reduces the risk thereof.

[0094] In addition, the transfer station 1 comprises an optional monitoring device 19 for detecting the operator 8 in the effective area C of the robot 4 and / or in the working area D, and for emitting a release signal if no operator 8 is detected, and for emitting a safety signal if an operator 8 is detected.

[0095] As already mentioned, the effective area C of the robot 4 and the working area D of the operator 8 overlap. Consequently, the operator 8 is exposed to a potential hazard in the working area D unless special measures are provided to prevent such a hazard. By appropriately evaluating the release signal and safety signal, it is possible to prevent the robot 4 from moving in the effective area C of the robot 4 while an operator 8 is present, thereby injuring the operator 8, in particular fatally injuring the operator 8. In this embodiment, automatic reloading is only possible when the release signal is present.If an operator 8' enters the work area in an unauthorized manner during automatic reloading operation, an emergency stop can also be provided for the robot 4, for example in which the robot 4 is immediately disconnected from the power supply and thus comes to an immediate standstill in order to protect the operator 8' from injury.

[0096] For example, the access area F can be secured by a light grid, wherein the light grid is provided and configured to emit an enable signal or a safety signal. The emergency stop can preferably be controlled by the control device 12 depending on the presence of the safety signal. In one embodiment, the monitoring device 19 can be designed as a distance sensor and output a safety signal with distance or position information. In this case, the robot 4 can be controlled depending on the distance or position information, for example, into a mode in which it moves more slowly when the operator 8, 8' approaches.

[0097] The transfer station 1 can advantageously be configured to handle a (visual and / or acoustic) output of the output unit 9 differently in automatic transfer mode and in manual transfer mode. In particular, the transfer station 1 can be configured to handle the output of transfer instructions differently in automatic transfer mode and in manual transfer mode. The different handling of the output of the output unit 9 or the different handling of the output of transfer instructions in automatic transfer mode and in manual transfer mode can be carried out by the output unit 9 itself. However, it is also conceivable that the output unit 9 is controlled accordingly for this purpose. Control can be carried out in particular by the control device 12 connected to the output unit 9.

[0098] An action performed by the transfer station 1 in automatic transfer mode, in particular concerning the output of the output unit 9, can be selected from the following group: output of the transfer instructions by means of the output unit 9 in an enlarged and / or brighter display and / or with increased volume, suppression of the output of the transfer instructions, placing the output unit 9 into standby mode or switching off the output unit 9 (i.e., disconnecting from a power supply). An action performed by the transfer station 1 in manual transfer mode, in particular concerning the output of the output unit 9, can be selected from the following group: output of the transfer instructions by means of the output unit 9 in a reduced and / or darker display and / or with reduced volume, output of the transfer instructions, waking up the output unit 9 from standby mode or switching on the output unit 9 (i.e.,Connect to a power supply).

[0099] In particular, the output or suppression of the reloading instructions, the change in the display of the reloading instructions, and the switching to a standby mode can be controlled directly in the output unit 9. However, these actions, as well as the switching on and off, can also be controlled by the control device 12.

[0100] In automatic reloading mode, reloading instructions can be generated by the robot controller based on the orders and transmitted to the output unit 9, preferably for output in an enlarged view. This advantageously allows current operations of the robot 4 to be observed by persons from a distance to the reloading station 1 (in particular by persons outside the work area) D. If necessary, the output unit 9 can also output information related to reloading instructions, for example, the remaining processing time of the pending orders, upon a switchover request.

[0101] Alternatively, the reloading instructions can be generated by the output unit 9 itself based on the received orders. It can also be provided that the control device 12 generates the reloading instructions based on the received orders and transmits them to the robot controller and / or output unit 9. It is also conceivable that the reloading instructions are generated by the order computer 10 and transmitted to the output unit 9.

[0102] Orders can be received in the robot 4 and the display unit 9 directly from the order computer 10 or with the interposition of further modules, in particular with the interposition of the control device 12. These modules can forward orders unchanged or even change their content. Accordingly, data connections exist between the robot 4 and the order computer 10 and between the display unit 9 and the order computer 10, which can be wired and / or wireless. It is also conceivable that the orders are received only by the robot 4 in automatic reloading mode and only by the output unit 9 in manual reloading mode. It is also conceivable that orders are always received jointly by the robot 4 and the output unit 9. However, orders received by the robot 4 in manual reloading mode do not result in their execution in the robot 4.Orders received by the output unit 9 in automatic reloading mode can, but do not have to, be output.

[0103] Orders can generally be reloading orders, for example for compacting source containers (fill level of a storage container is changed), or picking orders with a number of goods assigned to a picking order 2,2 1 A picking order can comprise one or more order lines, with each order line representing individual sub-orders. The reloading orders can therefore also refer to such sub-orders.

[0104] In this context, Fig. 2 shows a schematic plan view of a picking system 20, which is designed in particular for processing reloading orders, which may include a picking order or a consolidation order. The picking system 20 comprises a storage area 21 for storing goods 2, 2', a reloading station 1 for reloading goods 2, 2' of the type specified above, and the conveyor system 14..17 connected to the staging area A and the delivery area B for transporting the goods 2, 2' (optionally with loading aids 3, 3') between the storage area 21 and the reloading station 1.

[0105] In summary, in a proposed method for the optionally automatic or manual reloading of goods 2, 2' with a reloading station 1: in manual reloading mode, parking of the gripper 5 in the parking area E is controlled and in automatic reloading mode, movement of the gripper 5 from the parking area E is permitted, in automatic reloading mode, received orders are processed by means of the robot controller and an automatic movement of the goods 2 assigned to the order from the staging area A to the delivery area B is controlled by the gripper 5 of the robot 4 in accordance with one of the orders, and in manual reloading mode, received orders are processed and reloading instructions derived from the orders are output by the output unit 9 and thus a manual movement of the goods 2 assigned to the order from the staging area A to the delivery area B by the operator 8 in accordance with one of the orders.

[0106] A proposed method for the optional automatic or manual reloading of goods 2, 2' with a reloading station 1 may further comprise the following steps:

[0107] Receiving a request for switching to manual reloading mode at the input device 11a..11c or

[0108] Receiving a request to switch to automatic reloading mode at the input device 11a..11c. In one embodiment, the following steps can be performed in manual reloading mode:

[0109] Parking of the gripper 5 (and if necessary the drive device 6) in the parking area E by the robot controller,

[0110] Receiving orders sent from the order computer 10 in the output unit 9 and

[0111] Issuance of reloading instructions for orders to the operator 8 by the output unit 9, so that a manual movement of the goods 2 assigned to the order from the staging area A to the delivery area B is initiated by the operator 8 in accordance with one of the orders.

[0112] In another variant, the following steps can be carried out in automatic reloading mode:

[0113] Preventing or changing the output of the output unit 9 by the transfer station 1,

[0114] Receiving orders sent from the order computer 10 in the robot controller and

[0115] Processing the orders and controlling an automatic movement of the goods 2 assigned to the order from the staging area A to the delivery area B with the gripper 5 of the robot 4 according to one of the orders by the robot controller.

[0116] In particular, the method steps can be carried out in the specified order. Furthermore, the sequences of steps disclosed for manual and automatic transfer operations can also be provided together in a transfer station.

[0117] In the given context, “preventing output” can be understood to mean, in particular, suppressing an output, switching the output unit 9 into a standby mode or switching off the output unit 9.

[0118] In summary, the measures described make changing the reloading mode more convenient, faster, and less error-prone than with the prior art. Furthermore, straightforward error handling or uncomplicated rectification of a malfunction in automatic mode is enabled. Finally, it is directly recognizable on the output unit 9 that automatic mode is switched on, even if robot 4 is not currently moving. According to one embodiment, switching to automatic reloading mode can take place in a two-stage process. In a first step, a first actuating button on the combined input and output unit 11a..11c, designed as a touchscreen, triggers the output of behavioral instructions for the operator 8, 8'. In a second step, monitoring of compliance with the behavioral instructions takes place, and if the instructions are fulfilled, the control signal for automatic reloading mode is then output.The behavioral instructions may include an instruction to the operator 8, 8' to perform an exit confirmation upon leaving the work area D using an input device (first input device) located outside the work area D and / or to perform the switchover to automatic reloading mode using the input device (second input device) located outside the work area D. The behavioral instructions may further include an instruction to the operator 8, 8' to move the output unit 9 to a defined position, wherein the output unit 9 is designed to be movable, in particular pivotable, in this case. Accordingly, it is advantageous from a safety perspective if the operator 8, 8' performs an entry / exit confirmation (using additional input means) before each entry or after leaving the work area D.

[0119] If the switchover request is made in a control center, the operator 8, 8' can be informed in advance about the switchover to manual transfer mode. Preferably, the operator 8, 8' can be sent a message to their smartphone indicating the time at which they should come to the transfer station 1 (and, if there are multiple transfer stations 1, which transfer station 1).

[0120] Preferably, the output unit 9 and / or the input device 11a..11c can be arranged approximately centrally between the supply area A and the delivery area B. Preferably, the robot 4 is also arranged symmetrically between the supply area A and the delivery area B. This prevents one-sided wear of bearings and the like. Accordingly, ergonomic movement sequences are enabled for both the operator 8, 8' and the robot 4.

[0121] In a further advantageous embodiment of the reloading station 1, the order computer 10 or the control device 12 can be configured to check, upon receipt of a request to switch the reloading operation, before actually switching the reloading operation, whether the goods 2 assigned to the order have already been reloaded (by a current reloading device), and to delay the switchover and continue processing the order (by the current reloading device) until the goods 2 assigned to this order have been reloaded (by the current reloading device), and to switch the reloading operation when the reloading of the goods 2 of the order has been completed.

[0122] In the above context, a "transfer device" is either the operator 8 or the robot 4. Orders started by a transfer device 4, 8 are preferably completed before the transfer operation is switched over and passed on to a subsequent transfer device 4, 8. If, for example, the robot 4 has already transferred an item 2 of an order, then the remaining goods of this order are also transferred by the robot 4 according to this embodiment. For this purpose, the transfer of the transfer operation is delayed until the order has been completed by the robot 4. Only then does the system switch to manual transfer operation. A switch from manual transfer operation to automatic transfer operation can be carried out in a similar way. Here, the first step is to check whether the operator 8 has already transferred an item 2 of an order. Depending on this, the system switches to automatic transfer operation immediately or later.

[0123] An order can also include multiple goods 2, 2'. It must then be checked whether all goods 2, 2' assigned to the order (by a current transshipment device 4, 8) have already been transshipped, or the switchover is delayed and processing of the order is continued until all goods 2, 2' assigned to this order (by the current transshipment device 4, 8) have been transshipped.

[0124] In a preferred embodiment, it can be provided to delay the switching of the reloading operation only if further goods 2 belonging to the order in question are present in the conveyor system 14 leading to the staging area A and are waiting to be made available in the staging area A, and to switch the reloading operation immediately if this is not the case.

[0125] In a further advantageous embodiment of the transfer station 1, the order computer 10 or the control device 12 can be configured to receive a request to switch the transfer operation from the input device 11a..11c to check, before an actual switchover of the reloading operation, whether goods 2, 2' for a first order are already present in a conveyor system 14 leading to the staging area A (or whether goods are present for several first orders) and are waiting for a supply in the staging area A that cannot be processed by a replacing reloading device 4, 8, and to delay the switchover and to continue processing of the said order (or orders) by the current reloading device 4, 8 until goods 2, 2' for a second order that can be processed by the replacing reloading device 4, 8 are provided or can be provided (can be provided) in the staging area A, wherein the current reloading device 4, 8 is again the robot 4 and the replacing reloading device is the operator 8 or vice versa.

[0126] There may be goods 2 that cannot be handled or cannot be handled well by the robot 4 (e.g. goods 2 that are too soft, too misshapen, etc.). Likewise, there may be goods 2 that cannot be handled well by the operator 8 (e.g. goods 2 that are too small, too heavy, etc.). If, for example, a switch from automatic reloading mode to manual reloading mode is requested, the first step is to check whether there are already goods 2 on the conveyor system 14 leading to the staging area A that the operator 8 cannot reload or cannot reload easily. If this is the case, the automatic mode remains in operation until goods 2 are available or can be made available that the operator 8 can reload or reload easily. If this is not the case, the system immediately switches to manual reloading mode.Switching from manual reloading mode to automatic reloading mode can be performed in a similar manner. In this case, the first step is to check whether goods 2 are already present on the conveyor system 14 leading to the staging area A, which the robot 4 cannot or cannot easily reload. Depending on this, the system switches to automatic reloading mode immediately or later.

[0127] If an order comprises several goods 2, then a check is carried out to determine whether all goods 2 assigned to the first order or orders have already been reloaded by a current reloading device 4, 8, or the switchover is delayed and processing of the first order or orders is continued until all goods 2 assigned to this order or orders have been reloaded by the current reloading device 4, 8.

[0128] Fig. 3 additionally shows a further embodiment of a transfer station 1 in an oblique view. The statements made regarding the transfer station 1 in Fig. 1 apply analogously. An order computer 10, an input device 11c, and a monitoring device 19 are not explicitly shown in Fig. 3, but they could be present. Additionally, however, Fig. 3 shows a first deflection conveyor system between the first and second conveyor systems 14, 15 and a second deflection conveyor system between the third and fourth conveyor systems 16, 17. These are not shown in Fig. 1, but could also be provided there.

[0129] Finally, it should be noted that the scope of protection is determined by the patent claims. However, the description and drawings must be used to interpret the claims. Individual features or combinations of features from the various embodiments shown and described may represent independent inventive solutions. The problem underlying these independent inventive solutions can be derived from the description.

[0130] In particular, it is also noted that the devices depicted may in reality comprise more or fewer components than shown. In some cases, the depicted devices or their components may also be shown not to scale and / or enlarged and / or reduced in size.

[0131] Reference symbol list

[0132] 1 transfer station

[0133] 2, 2' goods

[0134] 3, 3' loading aid

[0135] 4 robots (transfer organ)

[0136] 5 grippers

[0137] 6 Robot arm (drive device)

[0138] 7 Work platform

[0139] 8, 8' Operator (transfer device)

[0140] 9 Output unit

[0141] 10 order calculator

[0142] Ila..11c input device

[0143] 12 Control device

[0144] 13 Acknowledgment device

[0145] 14 Conveyor technology to the staging area

[0146] 15 Conveyor technology from the supply area

[0147] 16 Conveyor technology to delivery area

[0148] 17 Conveyor technology from delivery area

[0149] 18 spatial demarcation

[0150] 19 Monitoring device

[0151] 20 picking system

[0152] 21 Storage area

[0153] AB preparation area

[0154] B Delivery area

[0155] C Robot's area of ​​effect

[0156] D Operator's working area

[0157] E Parking area

[0158] F Access area

Claims

P a t e n t a n s p r ü c h e 1. Transfer station (1) for the optional automatic or manual transfer of goods (2, 2'), in particular in a picking system (20), comprising a provision area (A) for providing a good (2, 2'), a delivery area (B) for delivering the good (2, 2'), which is arranged away from the provision area (A), a robot (4), in whose area of ​​action (C) the provision area (A) and the delivery area (B) are located and which comprises a gripper (5) movable in space to pick up the good (2, 2') in the provision area (A) and deliver it in the delivery area (B), a work area (D), in which a work platform (7) is arranged, on which an operator (8, 8') can move, and which is arranged such that the operator (8, 8') can pick up the good (2, 2') in the provision area (A) and deliver it in the delivery area (B), a robot control of the robot (4) and an output unit (9),which are connected to an order computer (10) and are configured to receive orders sent by the order computer (10) for reloading the goods (2, 2'), an input device (11a..11c) for receiving an input, by means of which input a change to an automatic reloading mode or to a manual reloading mode can be requested, wherein the robot controller is further configured to process received orders in automatic reloading mode and to control an automatic movement of the goods (2, 2') assigned to the order from the provision area (A) to the delivery area (B) by the gripper (5) of the robot (4) in accordance with one of the orders, and wherein the output unit (9) is further configured to process received orders in manual reloading mode and to output reloading instructions and thus to enable a manual movement of the goods (2, 2') assigned to the order from the provision area (A) to the delivery area (B) by the operator (8,8') according to one of the orders, characterized in that the robot (4) is mounted in a stationary manner in the transfer station (1), the transfer station (1) comprises a parking area (E) which is in the effective area (C), of the robot (4), however, lies outside the provision area (A), the delivery area (B) and the working area (D), and into which the gripper (5) is movable in order to enable unhindered manual reloading of the goods (2, 2') by the operator (8, 8') and the robot control is further configured to allow movement of the gripper (5) out of the parking area (E) in automatic reloading mode and to control parking of the gripper (5) in the parking area (E) in manual reloading mode.

2. Transfer station (1) according to claim 1, characterized in that the transfer station (1) is designed to treat an output of the output unit (9) differently in automatic transfer mode and in manual transfer mode.

3. Transfer station (1) according to claim 1 or 2, characterized in that an action carried out by the transfer station (1) in automatic transfer mode, in particular concerning the output of the output unit, is selected from the following group: output of the transfer instructions by means of the output unit (9) in an enlarged and / or brighter display and / or with increased volume, suppression of the output of the transfer instructions, setting the output unit (9) into a standby mode or switching off the output unit (9), and / or that an action carried out by the transfer station (1) in manual transfer mode, in particular concerning the output of the output unit, is selected from the following group: output of the transfer instructions by means of the output unit (9) in a reduced and / or darker display and / or with reduced volume, output of the transfer instructions,Waking up the output unit (9) from standby mode or switching on the output unit (9)., 4. Transfer station (1) according to one of claims 1 to 3, characterized in that a control device (12) is provided which is connected to the input device (11a..11c), the robot controller and the output unit (9) and which generates associated control signals from the input received at the input device (11a..11c) and transmits these to the robot controller and the output unit (9).

5. Transfer station (1) according to one of claims 1 to 4, characterized in that it comprises an acknowledgment device (13) in the working area (D), which is connected to the order computer (10) for data purposes and is set up to receive an input of a To receive order completion for an order by the operator (8, 8') and to confirm the processing of the order to the order computer (10).

6. Transfer station (1) according to claim 5, characterized in that the control device (12) is further configured to activate the acknowledgment device (13) in manual transfer mode in order to obtain an acknowledgment of order completion, and to deactivate the acknowledgment device in automatic transfer mode.

7. Transfer station (1) according to one of claims 1 to 6, characterized in that the order computer (10) or the control device (12) is set up to check, upon receipt of a request to switch over the transfer operation, before actually switching over the transfer operation, whether the goods (2, 2') assigned to the order have already been transferred, and to delay the transfer and continue processing the order until the goods (2, 2') assigned to this order have been transferred, and to switch over the transfer operation when the transfer of the goods (2, 2') of the order has been completed.

8. Transfer station (1) according to one of claims 1 to 7, characterized in that the order computer (10) or the control device (12) is set up to switch the transfer operation on receipt of a request from the input device (11a..11c) to check, before an actual switchover of the reloading operation, whether in a conveyor system (14) leading to the staging area (A) there is already an item (2, 2') for a first order waiting to be made available in the staging area (A), which item cannot be processed by a replacing reloading device, and to delay the switchover and to continue processing of the said order by the current reloading device until an item (2, 2') for a second order, which can be processed by the replacing reloading device, is made available or can be made available in the staging area (A), the robot (4) being provided as the current reloading device and the operator (8, 8') as the replacing reloading device, or vice versa.

9. Transfer station (1) according to one of claims 1 to 8, characterized in that at least part of the working area (D) is defined by a spatial boundary (18) to which an access area (F) leads.

10. Transfer station (1) according to one of claims 1 to 9, characterized by a monitoring device (19) for detecting the operator (8, 8') in the effective area (C) of the robot (4) and / or in the working area (D), and for emitting a release signal if no operator (8, 8') is detected, and for emitting a safety signal if an operator (8, 8') is detected.

11. Order picking system (20), in particular for processing reloading orders, comprising a storage area (21) for storing goods (2, 2'), a reloading station (1) for reloading goods (2, 2') and a conveyor system (14, 15, 16, 17) for transporting the goods (2, 2'), characterized in that the reloading station (1) is designed according to one of claims 1 to 10 and the conveyor system (14..17) is connected to the provision area (A) and to the delivery area (B).

12. Order-picking system (20) according to claim 11, characterized in that the conveyor system (14, 16) is set up to offer a first loading aid (3) in the provision area (A), wherein the goods (2, 2') are stored in the first loading aid (3), and to offer a second loading aid (3') in the delivery area (B), wherein the goods (2, 2') are reloaded into the second loading aid (3').

13. A method for the optional automatic or manual reloading of goods (2, 2'), in particular with a reloading station (1) according to one of claims 1 to 10 or in particular in a picking system according to claim 11 or 12, comprising the steps: Providing a provision area (A) for providing a product (2, 2'), Providing a delivery area (B) which is located away from the supply area (A), Providing a robot (4) comprising a gripper (5) movable in space and in whose effective area (C) the provision area (A) and the delivery area (B) lay, Providing a work area (D) in which a work platform (7) is arranged, on which an operator (8, 8') can move, and which is arranged such that the operator (8, 8') can pick up the goods (2, 2') in the provision area (A) and deliver them in the delivery area (B), Providing a parking area (E) which lies within the effective range (C) of the robot (4) but outside the provision area (A), the delivery area (B) and the working area (D), and into which the gripper (5) can be moved in order to enable unhindered manual reloading of the goods (2, 2') by the operator (8, 8'), Providing a robot control of the robot (4) and an output unit (9), which are connected to an order computer (10) and are configured to receive orders sent by the order computer (10) for reloading the goods (2, 2'), Providing an input device (11a..11c) for receiving an input, by means of which input a change to an automatic reloading mode or to a manual reloading mode can be requested, in automatic reloading mode, by means of the robot control, processing received orders and controlling an automatic movement of the goods (2, 2') assigned to the order from the provision area (A) to the delivery area (B) by the gripper (5) of the robot (4) in accordance with one of the orders, and in manual reloading mode, processing received orders and outputting reloading instructions derived from the orders by the output unit (9) and thus initiating a manual movement of the goods (2, 2') assigned to the order from the provision area (A) to the delivery area (B) by the operator (8, 8') in accordance with one of the orders,and in manual reloading mode, control a parking of the gripper (5) in the parking area (E) and in automatic reloading mode, allow a movement of the gripper (5) out of the parking area (E), and different treatment of an output of the output unit (9) in automatic reloading mode and in manual reloading mode., 14. Method for the optional automatic or manual reloading of goods (2, 2') according to claim 13, characterized in that a transfer carried out by the transfer station (1) in automatic reloading operation Action relating to the output of the output unit (9) is selected from the following group: output of the reloading instructions by means of the output unit (9) in an enlarged and / or brighter display and / or with increased volume, suppression of the output of the reloading instructions, placing the output unit (9) in a standby mode or switching off the output unit (9), and / or that an action carried out by the reloading station (1) in manual reloading mode relating to the output of the output unit (9) is selected from the following group: output of the reloading instructions by means of the output unit (9) in a reduced and / or darker display and / or with reduced volume, output of the reloading instructions, waking up the output unit (9) from standby mode or switching on the output unit (9).

15. A method for the optional automatic or manual reloading of goods (2, 2') with a reloading station (1) according to one of claims 1 to 10, comprising the steps: Receiving a request to switch to manual reloading mode at the input device (1 la..l 1c) or Receiving a request for switching to automatic reloading mode at the input device (11a..11c).

16. A method for the optional automatic or manual reloading of goods (2, 2') according to claim 15, characterized in that the manual reloading operation comprises the steps: -) Parking of the gripper (5) in the parking area (E) by the robot controller, -) Receiving orders sent from the order computer (10) in the output unit (9) and -) Issuing reloading instructions for orders to the operator (8, 8') by the output unit (9), so that a manual movement of the goods (2, 2') assigned to the order from the provision area (A) to the delivery area (B) is initiated by the operator (8, 8') in accordance with one of the orders, or the automatic reloading operation comprises the steps: -) Preventing or altering the output of the output unit (9) by the transfer station (1), -) Receiving orders sent by the order computer (10) in the robot control and -) Processing the orders and controlling an automatic movement of the goods (2, 2') assigned to the order from the provision area (A) to the delivery area (B) with the gripper (5) of the robot (4) according to one of the orders by the robot control.

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