EP4573030A1 - Agencement de préparation de commandes avec stockage intermédiaire entre des robots de préparation de commandes - Google Patents

Agencement de préparation de commandes avec stockage intermédiaire entre des robots de préparation de commandes

Info

Publication number
EP4573030A1
EP4573030A1 EP23758248.1A EP23758248A EP4573030A1 EP 4573030 A1 EP4573030 A1 EP 4573030A1 EP 23758248 A EP23758248 A EP 23758248A EP 4573030 A1 EP4573030 A1 EP 4573030A1
Authority
EP
European Patent Office
Prior art keywords
picking
picked
clipboard
robot
container
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP23758248.1A
Other languages
German (de)
English (en)
Inventor
Simon DENSBORN
Roland Schneider
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wuerth International AG
Adolf Wuerth GmbH and Co KG
Original Assignee
Wuerth International AG
Adolf Wuerth GmbH and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Wuerth International AG, Adolf Wuerth GmbH and Co KG filed Critical Wuerth International AG
Publication of EP4573030A1 publication Critical patent/EP4573030A1/fr
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1378—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on fixed commissioning areas remote from the storage areas
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0093—Program-controlled manipulators co-operating with conveyor means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for

Definitions

  • the invention relates to a picking arrangement and a picking method.
  • a picker When picking items in the traditional way, a picker removes items from source containers and transfers them to destination containers, for example in an online retailer's logistics center.
  • An online retailer packs goods from a warehouse into boxes and ships them to a customer.
  • the goods stored in boxes for example, are conveyed from a storage location in the warehouse to a worker or a robot, which removes the desired number of goods from the box and places them in a shipping box that is sent to the customer.
  • Robots used for this usually use a manipulator to grab the goods from the box, which directly grabs goods from the source container and places them in the target container, i.e. the shipping box.
  • a picking arrangement comprising at least a first picking robot for transferring an item to be picked from at least one source container to a clipboard, the clipboard for temporarily placing an item to be picked, and at least a second picking robot for transferring an item to be picked item to be picked from the clipboard to at least one target container that can hold at least one item to be picked.
  • a picking method comprising transferring an object to be picked by means of at least one first picking robot from at least one source container to a clipboard for the interim storage of an object to be picked, and a subsequent transfer of the object to be picked by means of at least one second picking robot from the clipboard to at least one target container, which picks up the at least one item to be picked.
  • picking arrangement is understood in particular to mean a system for loading target containers with objects from source containers.
  • object is understood to mean in particular a tangible or otherwise manageable physical body, for example a product element.
  • product elements are, in particular, technical objects or components, such as tool components (e.g. hammer, screwdriver, etc .) or consumable components (e.g. screws, nails, dowels, etc.).
  • tool components e.g. hammer, screwdriver, etc .
  • consumable components e.g. screws, nails, dowels, etc.
  • items or goods elements to be picked are suitcase contents, machine components, hand machines (e.g. a cordless drill), tool inserts, canisters, cans, bottles, cartridges , tubes and/or drawer contents.
  • the term “container” is understood in particular to mean a receiving device on and/or in which objects such as goods elements are or can be received as intended in a receiving space. Examples of such containers are plastic containers or cardboard boxes.
  • the term “source container” is understood in particular to mean a container in which one or more objects are contained, at least one of which is to be transferred to an associated target container. For example, several objects in a source container can be identical objects, for example be identical goods elements.
  • a source container can be a goods box from a warehouse.
  • a source container can contain many items, for example at least ten or at least a hundred.
  • target container is understood in particular to mean a container that is to be filled with one or more objects.
  • the objects transferred to a target container can be different objects, for example different goods elements.
  • a target container can be a cardboard box , which is sent to a customer after it has been filled with ordered items or product elements.
  • a target container can contain many items, for example at least ten or at least a hundred.
  • picking robot is understood in particular to mean a technical device which can grip, handle or otherwise manipulate objects to be picked.
  • a picking robot can, for example, be a robot, cobot or a robot arm that is equipped with a manipulator Manipulating or handling objects can be designed.
  • an object to be picked can be gripped with such a manipulator of a picking robot.
  • a manipulator of a picking robot can be, for example, a gripper for gripping an object to be picked.
  • a picking robot can be used for picking By-robot picking must be trained.
  • Pick-by-robot can refer to a picking technology for providing items in a warehouse with the help of automation technology. Take over in place of a worker Picking robots perform some or all activities when picking items.
  • the term “clipboard” is understood in particular to mean a receiving device for temporarily storing objects to be picked after a respective object has been removed from a source container by a first picking robot on the source container side and before this object is further picked by a second picking robot on the target container side.
  • the clipboard can thus be designed as a buffer device for intermediate storage of picked objects. Therefore, the clipboard can be arranged between the at least one first picking robot and the at least one second picking robot and be positioned within reach of both the first picking robot and the second picking robot.
  • a clipboard can be designed to be purely passive (i.e. just provide a static clipboard function.) However, it is also possible to provide an actively controllable clipboard that can, for example, be moved dynamically or structurally adapted to items currently being picked.
  • a first picking robot when picking objects from a source container into a target container, can first be used to transfer a respective object from the source container to a clipboard for temporarily storing the said object.
  • a second picking robot can then transfer the object in question from the clipboard to the target container and thereby equip the target container with the object.
  • items to be picked do not necessarily have to be transferred from source containers to target containers according to the “first in, first out” principle.
  • the principle “first in, first out” can refer to a logic according to which objects from source containers are handled in a certain way.
  • objects from source containers that are fed in first are also removed first and further picked.
  • exemplary embodiments of the invention at least temporarily use the principle "first in, first out", it is advantageous due to the provision of a clipboard to modify the order of transferring objects into a target container compared to the removal of the objects from a source container, by buffering one or more objects in the clipboard before further picking become. This makes it possible to avoid traditionally occurring dead times during picking, in which further picking has to be waited because one of the components involved is not yet ready for picking.
  • picking time can be used more efficiently and a larger number of items can be picked from source containers into target containers.
  • the work of the second picking robot (in particular its manipulator) for packing into the target container can be done independently of the order of arrival of the source containers at the picking station.
  • the picking arrangement can have a source container feed device for feeding the at least one source container, which contains at least one item to be picked, from a storage location to the have at least one first picking robot.
  • the picking method can include feeding the at least one source container from a storage location to the at least one first picking robot.
  • the source container feed device can be designed to feed source containers from storage shelves in such a way that the at least one first picking robot can spatially reach the supplied source containers and pick objects stored therein.
  • the source container feed device can carry out the supply of source containers to the at least one first picking robot fully automatically.
  • the source container feed device can be motor-driven and can have, for example, a conveyor belt, a forklift and/or a transport robot.
  • the picking arrangement can have a target container feeding device for feeding the at least one target container, which is to be filled with at least one item to be picked, to the at least one second picking robot.
  • the target container feed device can be designed to feed empty target containers or target containers only partially filled with objects (for example shipping boxes) in such a way that the at least one second picking robot can spatially reach the supplied target containers and insert objects into them.
  • the target container feeding device can carry out the feeding of target containers to the at least one second picking robot fully automatically.
  • the target container feed device can be motor-driven and can have, for example, a conveyor belt, a forklift and/or a transport robot.
  • the picking arrangement can have a source container removal device for removing the at least one source container, from which at least one item to be picked has been removed, from the at least one first picking robot, in particular to a storage location or to a refill station. If all objects have been removed from a source container by the at least one first picking robot and this is therefore completely emptied, the source container removal device can return empty source containers to the storage location or feed them to a refill station. The emptied source containers can then be picked up from the storage location and replaced with filled source containers. At the refill station, new items can be filled into the emptied source containers. The refilled source container can then be brought back to the storage location or directly to the at least one first picking robot.
  • the source container removal device can carry out the removal of source containers from the at least one first picking robot fully automatically.
  • the source container discharge device can be motor-driven and can have, for example, a conveyor belt, a forklift and/or a transport robot.
  • the picking arrangement can have a target container removal device for removing the at least one target container, which contains at least one item to be picked, from the at least one second picking robot to a shipping station.
  • the picking method can include removal of the at least one target container filled with at least one object from the at least one second picking robot to a shipping station. If all objects have been introduced into a target container by the at least one second picking robot and this is therefore completely filled, the target container removal device can transfer finished picked target containers to a shipping station for shipping to a customer.
  • the target container removal device can carry out the removal of target containers from the at least one second picking robot fully automatically.
  • the target container The removal device can be motor-driven and can have, for example, a conveyor belt, a forklift and/or a transport robot.
  • the filling of a target container can be controlled by means of a control device so that the target container is filled with objects according to a target container filling list.
  • the picking robots can have access to the associated target container filling list for each target container to be filled, so that the picking robots can pick objects between the source containers and the target containers in a corresponding manner and, if necessary, can buffer objects on the clipboard.
  • the picking arrangement can have the at least one source container, in particular a plurality of source containers, each of the at least one source container containing at least one object to be picked, in particular containing a plurality of objects to be picked.
  • Different source containers can have different objects (in particular different types of goods), whereby a respective source container can have a large number of identical objects (in particular only a single type of goods).
  • the picking arrangement can have the at least one target container, in particular a plurality of target containers, wherein each of the at least one target container can hold at least one item to be picked, in particular can hold a plurality of items to be picked.
  • Different target containers can have different or identical sets of objects (in particular different types of goods), whereby a respective target container can have a large number of different objects (in particular different types of goods).
  • the order picking arrangement can have a plurality of first picking robots each of which is designed to transfer an item to be picked from the at least one source container to the clipboard.
  • the picking arrangement can have a plurality of second picking robots, each of which is designed to transfer an object to be picked from the clipboard to the at least one target container.
  • the picking arrangement can have a plurality of clipboards, each of which is designed to temporarily store an item to be picked.
  • a plurality of first or second picking robots can be provided on the source container side and/or the target container side, which can work in parallel and/or together to transfer objects from source containers into target containers in accordance with an individual or uniform target container filling list for different target containers.
  • a modular logistics system can be created that can process complex picking tasks in a highly flexible, highly efficient and highly error-resistant manner.
  • Such a picking arrangement makes it possible to serve a plurality of source containers and a plurality of target containers at the same time and thereby reduce or completely eliminate dead times or waiting times during picking.
  • the clipboard in particular a plurality of clipboards, can have a table-like storage surface, a shelf, a trough-shaped rack and/or a plurality of trough-shaped racks arranged in particular one above the other.
  • Such clipboards can be provided with little effort and significantly improve the efficiency of the picking arrangement.
  • the clipboard in particular a plurality of clipboards, can have such a shape that when an object to be picked is placed on the clipboard under the influence of gravity assumes a well-defined position and/or orientation, in particular a tilted orientation, in order to enable the deposited object to be gripped in a predefined manner by means of the at least one second picking robot.
  • a clipboard can be configured in cross section as a right-angled triangle, the right angle of which is arranged at the bottom and is delimited by two sloping sides. This geometry allows a cuboid-shaped object to simply slide into such a clipboard, whereby the cuboid-shaped object easily moves into the right angle on the bottom.
  • the at least one first picking robot and/or the at least one second picking robot can be equipped, in particular selectively or automatically, with a respective one of a plurality of interchangeable manipulators with different object handling properties.
  • interchangeable grippers of different sizes and/or different gripping geometries, a suction device for holding objects under vacuum, etc. can be provided as manipulators.
  • a respective picking robot that detects (for example sensorily) or is informed by means of a control device that a current picking task can be better accomplished with a different manipulator can automatically replace a manipulator in order to adapt to a respective picking task.
  • a manipulator of a picking robot can also be replaced manually by a worker.
  • the clipboard in particular a plurality of clipboards, can be designed to be mobile and/or interchangeable.
  • a clipboard can be moved out between the first and second picking robots if it is unsuitable for a current picking task or if another clipboard is better suited for this purpose. This further increases the flexibility of the picking arrangement.
  • the picking arrangement can have at least one detection device for determining detection information for monitoring and/or controlling the picking of objects using the picking arrangement.
  • a detection device can be designed to detect weight information, position information, orientation information, optical information and/or transponder information.
  • the picking arrangement, in particular the picking robots can be controlled on the basis of detected or sensory information.
  • the at least one detection device can be used to determine detection information for identifying and/or characterizing at least one object that has been transferred to at least one clipboard by means of the at least one first picking robot.
  • This detection information can advantageously be fed to a second picking robot, on the basis of which the second picking robot can grab the object that has been placed on the clipboard and transfer it to a target container. In this way, the transfer of the object from the source container via the clipboard into the target container can be carried out in a particularly error-proof manner using the first and second picking robots.
  • the picking method may include feeding a plurality of source containers, each of which contains at least one item to be picked, to the have simultaneous access by the at least one first picking robot, in particular by a plurality of first picking robots operating in parallel. Furthermore, the method can include selection, by means of the at least one first picking robot, in particular by means of the plurality of first picking robots, from a respective one of the supplied source containers for transferring an object to be picked from the selected source container to the clipboard, in particular to a respective selected one of one Plurality of clipboards. A respective first picking robot or a control device controlling it can thus freely select from which of several source containers within its reach an object should be removed.
  • the respective first picking robot can then transfer this object to the clipboard or, alternatively, place it in a target container itself.
  • This degree of freedom can ensure that a respective first picking robot can always or at least over a large part of its working time process a picking task without being exposed to waiting times (for example until a suitable source container or a suitable target container is supplied).
  • the picking method can involve selecting an order of transferring items to be picked from the at least one first picking robot (or from the supplied plurality of source containers) to the at least one clipboard, in particular to the plurality of clipboards, different from an order of feeding the Have a plurality of source containers to the at least one first picking robot, in particular to the plurality of first picking robots operating in parallel.
  • a respective first picking robot is not necessarily subject to a “first in, first out” picking principle (but can at least use this at times).
  • a respective first picking robot is advantageously capable of operating from a “first in, first out” order at any time.
  • Order picking principle differs and source containers or those contained therein To pick items in a freely selectable order, especially to the clipboard or to a target container.
  • the picking method can include feeding a plurality of target containers, each of which is intended to hold at least one item to be picked, for simultaneous access by the at least one second picking robot, in particular by a plurality of second picking robots operating in parallel. Furthermore, the method can include selecting, by means of the at least one second picking robot, in particular by means of the plurality of second picking robots, a respective one of the supplied target containers for transferring an object to be picked from the clipboard, in particular from a respectively selected one of a plurality of clipboards the respective selected target container.
  • a respective second picking robot or a control device controlling it can thus freely select into which of several target containers within its reach an object should be inserted.
  • the respective second picking robot can transfer this object from the clipboard to a respective target container or, alternatively, remove it from a source container itself and place it in a target container.
  • This degree of freedom can ensure that a respective second picking robot can always or at least over a large part of its working time process a picking task without being exposed to waiting times (for example until a suitable source container or a suitable target container is supplied).
  • the picking method can involve selecting an order of transferring objects to be picked from the at least one clipboard, in particular from the plurality of clipboards, different from an order of transferring objects to be picked from the supplied plurality of source containers to the at least one clipboard, especially to that A plurality of clipboards.
  • a respective second picking robot is not necessarily subject to a “first in, first out” picking principle (but can use this at least temporarily).
  • a respective second picking robot is advantageously able to operate at any time from a “first in, first out” order. Deviating from the picking principle and equipping target containers with associated items in a freely selectable order, in particular from the clipboard or directly from a source container.
  • Figure 1 shows a picking arrangement according to an exemplary embodiment of the invention.
  • Figure 2 shows a picking arrangement according to another exemplary embodiment of the invention.
  • Figure 3 shows a picking arrangement according to a further exemplary embodiment of the invention.
  • a clipboard acting as a buffer is arranged between a picking robot on the source container side and a picking robot on the target container side, on which the picking robot on the source container side can pick one to be picked if necessary
  • an object can be placed that, for whatever reason, cannot currently be transferred to a target container by a picking robot on the target container side.
  • the picking robots can perform other picking tasks in the meantime (for example picking another item). In this way, the picking robots' resources for picking items can be used more efficiently by providing a clipboard.
  • An advantageous aspect consists in the provision of a clipboard designed as a buffer for objects to be picked between a transfer point of source containers (for example boxes filled with goods from a warehouse) and a sorting point of the objects into a respective destination container, for example designed as a shipping box.
  • the items to be picked can therefore be placed in a destination container regardless of the order in which the source containers arrive, because items can be temporarily stored in the buffer.
  • the pick robot on the target container side for sorting the objects into the target container can continuously place objects in target containers designed, for example, as shipping boxes, so that available working time can be better used.
  • At least one first picking robot can be provided, which removes objects from a source container that was fed fully automatically from a warehouse to the first picking robot.
  • At least a second picking robot can be provided to place the items in a target container.
  • one or more source containers are served at the same time.
  • one or more target containers can be loaded at the same time.
  • the clipboard can preferably be formed from two or more storage spaces for objects.
  • the clipboard can be designed as a table-like storage surface or as a shelf or as a trough-shaped shelf, in particular several on top of each other.
  • the channels can preferably have a square or semicircular cross section. Objects to be picked can advantageously be brought into a physically well-defined position and orientation when placed in the clipboard due to their gravity, so that they can be easily picked up by a second picking robot.
  • Items from a source container can be picked into a destination container or multiple destination containers. That is, the composition of items in each target container can be selected as any combination of items (particularly of different types) from any source containers.
  • a respective first or second picking robot can independently change different manipulators (for example grippers of different sizes or a mechanical gripper and a vacuum suction cup).
  • the clipboard can have different shapes adapted to different objects.
  • the clipboard can be designed to be movable so that it can be moved or changed or exchanged.
  • control device can be provided for controlling the picking method or the picking arrangement and its components.
  • control device is understood to mean, in particular, a device with a processor resource that is set up to - in particular program-technically - control the picking arrangement based on predetermined algorithms.
  • the processor resource can be equipped to carry out corresponding data processing.
  • the control device can, for example be designed as a computer or processor or as a plurality of interacting computers or processors (which are spatially close to one another or can be spatially separated from one another).
  • the control device can control and coordinate all components of the picking arrangement, in particular the picking robots and devices for feeding and removing Source containers and target containers and optionally also from the clipboard.
  • Process monitoring by means of the control device can be carried out in particular by determining weight, using a scale, and/or force and torque sensors. Such process monitoring can also include determining a center of gravity, for example using a scale, or implementing force and torque sensors.
  • visual properties can be detected using a camera and used for process monitoring or process control. This includes in particular the detection of a QR code, a serial number, labels, patterns, barcodes, an AI (artificial intelligence) based object classification, RFID and/or NFC tags, a three-dimensional contour, etc.
  • the objects can be checked for article defects before, during and/or after picking.
  • data on the item condition can be saved during the picking process, for example image data and/or weight data. If a customer makes a complaint, this data can be labeled as a “defective product,” for example, and used as the basis for training an AI unit (artificial intelligence unit) to detect defective products.
  • AI unit artificial intelligence unit
  • a target container can be monitored. If an object changes its original position or orientation, for example falls over or slips, a packing order in the target container can be recalculated and/or the fallen object can be placed back on the clipboard and repacked into the target container.
  • Objects to be picked can preferably be gripped exactly at a predetermined position and can therefore be placed exactly at a predetermined position.
  • the clipboard can be designed as an inverted square pyramid, so that all objects (in particular cuboid-shaped objects) slide into a physically well-defined position and orientation due to their gravity when placed, preferably automatically. It is therefore possible for the second picking robot (which can also be referred to as a packing robot) to approach the gripping point of the object extremely precisely and thereby carry out the placement of the object in the target container extremely precisely.
  • the second picking robot which can also be referred to as a packing robot
  • Figure 1 shows a picking arrangement 100 according to an exemplary embodiment of the invention.
  • the picking arrangement 100 can be used in a logistics warehouse of an online retailer, where ordered products (hereinafter referred to as objects 104) from source containers 106 (for example plastic containers) are to be filled into target containers 112 (for example shipping boxes) according to a respective order list.
  • objects 104 ordered products
  • source containers 106 for example plastic containers
  • target containers 112 for example shipping boxes
  • a corresponding picking process is controlled by means of a control device 132, which can control all components of the picking arrangement 100 described below.
  • the control device 132 can access a database 134 in which information regarding picking tasks to be carried out (for example order lists to be processed) can be stored.
  • a current inventory of the logistics warehouse or warehouse of the picking arrangement 100 can be stored in the database 134, for example Information about the items 104 currently contained in all source containers 106.
  • the picking arrangement 100 has a plurality of first picking robots 102.
  • Each first picking robot 102 serves to transfer an object 104 to be picked from a respective source container 106 to a clipboard 108 described in more detail below or directly to a respective target container 112.
  • an associated manipulator 126 can be mounted on each first picking robot 102, for example a Gripping device for gripping objects 104.
  • Each first picking robot 102 can then be controlled (in particular by means of the control device 132) in order to grip objects 104 in the source containers 106 and optionally place them on the clipboard 108 or deposit them directly into a suitable target container 112.
  • the picking arrangement 100 includes a plurality of second picking robots 110, which are used to transfer an object 104 to be picked from the clipboard 108 or directly from a respective one
  • Source container 106 can be operated to an associated one of several target containers 112.
  • an associated manipulator 126 can be mounted on every second picking robot 110, for example a gripping device for gripping objects 104. Every second picking robot 110 can then be controlled (in particular by means of the control device 132) in order to pick objects 104 either from the clipboard 108 or from the source containers 106 and place them in a suitable target container 112.
  • the picking arrangement 100 has a source container feed device 114, which is designed to feed the source containers 106 (each of which holds a large number of objects 104 to be picked) from a storage location 116 into a reach of the first picking robots 102.
  • the storage location 116 may, for example, include one or more shelves, pallets or the like on which many source containers 106 with items 104 are stored.
  • the source container feed device 114 can, for example by means of a conveyor belt or a vehicle, bring source containers 106 required for processing order lists from the storage location 116 into the reach of the first picking robots 102.
  • the range of the first picking robots 102 is understood to mean a spatial area around the respective first picking robot 102 in which the said first picking robot 102 Objects 104 can be removed from a source container 106 arranged there.
  • the picking arrangement 100 has a target container feed device 118 for feeding target containers 112 within the reach of the second picking robots 110.
  • the target containers 102 which are to be filled with objects 104 according to an assigned order list, can be completely emptied or only partially filled.
  • the target containers 112 may be empty shipping boxes during delivery.
  • the target container feed device 118 can bring empty target containers 112 required for processing order lists into the reach of the second picking robot 110, for example by means of a conveyor belt or a vehicle.
  • the range of the second picking robots 110 is understood to mean a spatial area around the respective second picking robot 110, in which the said second picking robot 110 can insert objects 104 into a target container 112 arranged there.
  • the picking arrangement 100 can have a target container removal device 122 for removing target containers 112 filled with objects 104 to be picked in accordance with an assigned order list from the second picking robots 110 to a shipping station 124 exhibit. If a picking task corresponding to an order list has been fulfilled for a respective target container 102, this target container 112 can be sent to a customer at the shipping station 124.
  • the target container removal device 122 may in turn comprise a conveyor belt, a vehicle or the like to move the filled target containers 112.
  • a plurality of clipboards 108 can be arranged between the first picking robots 102 and the second picking robots 110, each of which is designed to temporarily place an object 104 to be picked.
  • each of the clipboards 108 has a V-shaped receiving groove into which an object 104, for example a cuboid, automatically slides into a stable end position with a predefined orientation under the influence of gravity. This simplifies subsequent gripping of an object 104 that has been temporarily stored in a respective clipboard 108 by one of the second picking robots 110.
  • the clipboards 108 are thus shaped, oriented and dimensioned according to FIG Gravity on the clipboard 108 assumes a well-defined position and tilted orientation in order to enable the stored object 104 to be gripped in a predefined manner by means of a respective second picking robot 110.
  • the clipboards 108 can be designed to be mobile and can be moved away between the picking robots 102, 110 and replaced by other clipboards 108. In this way, the clipboards 108 can be adapted to items 104 that are currently being picked, if necessary.
  • each first picking robot 102 and each second picking robot 110 is equipped with a plurality of interchangeable manipulators 126, each of which effects a different object gripping property.
  • the preferably automatically replaceable manipulators 126 of a respective picking robot 102, 110 grippers of different sizes and/or shapes, vacuum suction cups, etc.
  • each picking robot 102, 110 can be specifically adapted to the properties of the objects 104 to be picked and/or to the properties of the source container 106 or target container 112.
  • the picking arrangement 100 can also have one or more detection devices 130 for determining detection information for monitoring the picking of the objects 104 from the source containers 104 into the target containers 112.
  • the detection device 130 is an optical camera that monitors the area of source containers 106, the first and second picking robots 102, 110, the clipboards 108 and the target containers 112 and transmits corresponding optical detection data to the control device 132 for controlling the picking arrangement 100.
  • a detection device 130 for detecting weight information of objects 104 and/or containers 106, 112, position information and/or orientation information of objects 104 on the clipboards 108 and/or transponder information from RFID tags or the like can also be provided the containers 106, 112 can be provided. It is also possible to track the containers 106, 112 and/or the objects 104 during their processing in the picking arrangement 100, for example by means of transponders attached to the respective container 106, 112.
  • the several first picking robots 102 can advantageously handle several source containers 106 and objects 104 removed therefrom as well as several clipboards 108 in parallel.
  • the several second picking robots 110 can handle several target containers 112 and objects 104 inserted therein as well as several clipboards 108 in parallel.
  • a sequence of picking objects from source containers 106, into clipboards 108, from clipboards 108 and into target containers 112 can be particularly advantageous the picking robot 102, 110 can be freely selected. In contrast to conventional approaches, this can advantageously prevent a picking robot 102, 110 from being idle for a long time, for example because such a picking robot 102, 110 still has to wait for a source container 104 or a target container 112.
  • Figure 2 shows a picking arrangement 100 according to another exemplary embodiment of the invention.
  • Figure 2 shows a picking arrangement 100 according to another exemplary embodiment of the invention.
  • some of the components shown only schematically in Figure 1 are shown with real embodiments.
  • source containers 106 designed as plastic boxes are filled with a large number of identical objects 104, for example packs of screws or packs of dowels.
  • Individual objects 104 can be removed from the source containers 106 by robot arms or other manipulators 126 of first picking robots 102.
  • the picking tasks of the first picking robots 102 can be coordinated or synchronized with one another by means of a control device 132, not shown in FIG.
  • Each of the first picking robots 102 has access to a plurality of serially arranged clipboards 108 in a pyramid shape, into which objects 104 to be picked can be temporarily stored.
  • Each of several second picking robots 110 which can each be designed as robot arms or other manipulators 126, can remove an object 104 from a respective clipboard 108 and insert it into a target container 112, here designed as a cardboard box, at a sorting point 152.
  • the picking tasks of the second picking robots 110 can be carried out using an in 2, not shown control device 132 can be coordinated or synchronized with one another.
  • the picking tasks of the first picking robots 102 and the second picking robots 110 can also be coordinated or synchronized with one another by means of a control device 132, not shown in FIG.
  • the supply and/or removal of the source containers 106 and/or the target containers 112 can be included in this coordination or synchronization.
  • detection information about the picking process can be determined by means of a detection device 130.
  • a removed object 104 can be characterized sensorily, for example optically or by reading a transponder attached to the object 104.
  • a first picking robot 102 can push the object 104 against an edge when placing an object 104 (for example a package) on a clipboard 108 (for example designed as a table) and/or a second picking robot 110 can push the object 104 against an edge when picking up an object 104 from the clipboard 108.
  • This allows the object 104 to be aligned in a clear or defined manner. This makes the handling process easy and precise.
  • the second picking robot 110 can pick up the object 104 that has been temporarily stored in the clipboard 108.
  • the second picking robot 110 can use the detection information transmitted to it, which characterizes the object 104 that has been deposited in the meantime.
  • the second picking robot 110 can equip several target containers 112 with suitable objects 104.
  • the items shown are packs of screws, a hammer and safety glasses.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

L'invention concerne un agencement de préparation de commandes (100), comprenant au moins un premier robot de préparation de commandes (102) destiné à transférer un objet (104) à préparer pour une commande depuis au moins un récipient source (106) vers un moyen de stockage intermédiaire (108), le moyen de stockage intermédiaire (108) étant destiné au stockage intermédiaire d'un objet (104) à préparer pour une commande, et au moins un second robot de préparation de commande (110) destiné à transférer un objet (104) à préparer pour une commande depuis le moyen de stockage intermédiaire (108) vers au moins un récipient cible (112) qui peut recevoir au moins un objet (104) à préparer pour une commande.
EP23758248.1A 2022-08-17 2023-08-10 Agencement de préparation de commandes avec stockage intermédiaire entre des robots de préparation de commandes Pending EP4573030A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102022120807.9A DE102022120807A1 (de) 2022-08-17 2022-08-17 Kommissionieranordnung mit Zwischenablage zwischen Pickrobotern
PCT/EP2023/072235 WO2024037972A1 (fr) 2022-08-17 2023-08-10 Agencement de préparation de commandes avec stockage intermédiaire entre des robots de préparation de commandes

Publications (1)

Publication Number Publication Date
EP4573030A1 true EP4573030A1 (fr) 2025-06-25

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Application Number Title Priority Date Filing Date
EP23758248.1A Pending EP4573030A1 (fr) 2022-08-17 2023-08-10 Agencement de préparation de commandes avec stockage intermédiaire entre des robots de préparation de commandes

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Country Link
US (1) US20260054931A1 (fr)
EP (1) EP4573030A1 (fr)
JP (1) JP2025526893A (fr)
CN (1) CN119816460A (fr)
DE (1) DE102022120807A1 (fr)
WO (1) WO2024037972A1 (fr)

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH092623A (ja) * 1995-06-22 1997-01-07 Murata Mach Ltd ピッキングシステム
DE102006057758B4 (de) 2006-12-07 2010-09-02 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Kommissionieren von Waren und Lagerverwaltungssystem
DE102012102333A1 (de) 2012-03-20 2013-09-26 Apologistics Gmbh Automatisiertes System und Verfahren zur Kommissionierung von Artikeln, insbesondere von Apothekenartikeln
DE102013015456A1 (de) * 2013-09-13 2015-03-19 SSI Schäfer Noell GmbH Lager- und Systemtechnik System und Verfahren zum gemeinsamen Kommissionieren von zerbrechlichen und unzerbrechlichen Artikeln
GB201402263D0 (en) * 2014-02-10 2014-03-26 Ocado Ltd Intermediate holding facility for picking station
US10384872B2 (en) * 2016-08-30 2019-08-20 Intelligrated Headquarters, Llc Robotic put wall
DE102018114026B4 (de) 2018-06-12 2020-08-13 Ssi Schäfer Automation Gmbh Zweistufige Kommissionierung mittels Sorter mit hochdynamischen Sorterschalen
EP3738719B1 (fr) * 2019-05-13 2024-05-01 IGZ Ingenieurgesellschaft für logistische Informationssysteme mbH Robot de préparation de commandes mobile, poste de travail de préparation de commandes marchandise vers homme et système de préparation de commandes
US11338447B2 (en) * 2020-07-06 2022-05-24 XYZ Robotics Global Inc. Structural load cell cases for encasing sensors in robotic systems

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US20260054931A1 (en) 2026-02-26
WO2024037972A1 (fr) 2024-02-22
CN119816460A (zh) 2025-04-11
DE102022120807A1 (de) 2024-02-22
JP2025526893A (ja) 2025-08-15

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