DE102018206984B4 - Robot-based goods picking - Google Patents

Abstract

Device for order-picking goods, comprising:- at least one rotatable goods carousel (10) with- storage shelves (11) for receiving arrangements of goods;- order shelves (12) for receiving arrangements of goods; and- a drive (14) for rotating the goods carousel; and- a first picking station with at least one robot (31) with at least one gripper (37) for- picking up goods from at least one supply deposit and- depositing goods on at least one order deposit and/or at least one compilation deposit (50) spaced apart from the goods carousel , characterized in that at least one supply shelf and/or at least one order shelf and/or at least one compilation shelf has supporting walls inclined to the vertical and/or converging downwards in the vertical direction and/or at least one supply shelf and/or at least one order shelf on an outside of the Goods carousel is arranged.

Description

The present invention relates to a device and a method for picking goods and a computer program product for carrying out the method.

According to in-house practice, packs of coffee capsules or the like are picked manually, in particular mixed packs are made up of single-type packs for specific orders or customers.

the DE 101 19 679 A1 relates to a device for picking and / or palletizing piece goods, with an intermediate storage / sorting device having a circular conveyor with several intermediate storage spaces, to which at least one feed conveyor for the piece goods to be picked and at least one discharge conveyor for the picked piece goods are assigned, it being proposed that Piece goods are conveyed by means of a handling device from the feed conveyor to the intermediate storage locations of the circular conveyor and during the return movement of the handling device from the intermediate storage location to the feed conveyor, the next intermediate storage location to be loaded is moved adjacent to the feed conveyor of the circular conveyor.

The object of the present invention is to improve the picking of goods.

This object is achieved by a device with the features of claim 1 and a method with the features of claims 8 and 9, respectively. Claim 11 provides a computer program product for performing a method described here under protection. The subclaims relate to advantageous developments.

The present invention is explained in more detail below using the example of the picking of coffee capsule containers or similar goods, which represents a particularly preferred application, without the invention being restricted thereto.

According to one embodiment of the present invention, a device for picking goods has at least one goods carousel, in particular a rotor, which is rotatable (mounted) about an axis of rotation which, in one embodiment, includes an angle with the vertical or gravitational direction, which is a maximum of 30 °, in particular a maximum of 15 °, in one version a maximum of 5 °. In other words, in one embodiment, the goods carousel can be rotated about an, at least essentially, vertical axis of rotation.

As a result, in one embodiment, the risk of goods falling out of the goods carousel can be reduced. Additionally or alternatively, the device for order picking can be made particularly compact and / or used flexibly in one embodiment through the rotatable goods carousel, in particular expanded or reduced by adding or removing the shelves and / or stations described below.

According to one embodiment of the present invention, the goods carousel has a plurality of storage racks which, in one embodiment, receive unmixed goods arrangements or are filled with them or on, in particular, in which, in one embodiment, robotic and / or unmixed , Goods arrangements are stored, or which are provided for this purpose, in particular set up, are or are being used. In one embodiment, the storage racks are, in a further development, equidistantly distributed in one or more vertically spaced rows on or over a circumference of the goods carousel, with storage racks of vertically adjacent rows being arranged one below the other or offset from one another as viewed in the circumferential or direction of rotation .

Additionally or alternatively, the goods carousel according to one embodiment of the present invention has a plurality of order trays which, in one embodiment, receive goods arrangements which are mixed, or which are provided, in particular set up, or are used for this purpose.

Additionally or alternatively, according to an embodiment of the present invention, the device, in particular one or more of its picking stations (each) explained below, has one or more of the goods carousel spaced or separately formed, in one embodiment stationary, in particular stationary, compilation trays opposite in which the goods carousel can be rotated or rotated around its axis of rotation in one version.

According to one embodiment of the present invention, in one embodiment, robotic and / or mixed, goods arrangements are compiled, in particular order-specific or -based, on, in particular on or in, the order trays and / or the compilation tray (s) and / or from goods from the storage bins, or these are provided for this purpose, in particular set up, or are used for this purpose.

In one embodiment, the order trays are, in a further development, equidistant, in one or more vertically spaced rows on or over a circumference of the goods carousel distributed, with order trays of vertically adjacent rows seen in the circumferential or direction of rotation can be arranged one below the other or also offset from one another.

In one embodiment, several storage trays and / or several order trays among each other and / or several compilation trays and / or at least one supply tray and at least one order tray and / or at least one order tray and at least one compilation tray are at least substantially identical. Additionally or alternatively, one or more shelves of the goods carousel are used optionally or alternatively, in particular alternately, both as supply shelf (s) and as order shelf (s).

As a result, the construction and / or assembly outlay can be reduced in one embodiment and / or the device can be used flexibly for different types of goods and / or order quantities of goods put together. For example, shelves can be used as (additional) storage shelves in order to pick from larger quantities of sorted goods arrangements. Conversely, shelves can be used as (additional) order shelves in order to pick larger quantities of mixed goods arrangements.

According to one embodiment of the present invention, the goods carousel has a drive, electrical in one embodiment, which rotates the goods carousel around its axis of rotation, in one embodiment continuously or clocked or intermittently with predetermined working periods in which the goods carousel is at a standstill between which it is rotated or which is set up or used for this purpose.

In one embodiment, a continuous rotation can increase the throughput of goods, and a clocked or intermittent rotation in an embodiment improves the reliability and / or precision of picking up and depositing goods.

According to one embodiment of the present invention, the device has one or more picking stations, each with at least one robot with at least one gripper, which or with which the robot picks up goods from one or more storage trays and, in particular, goods on one or more order and / or stores assembly trays, in particular in order to assemble there order-specific or -based and / or from goods from the supply trays, or which is set up or used for this purpose.

In other words, the robot (s) of the order picking station (s) display goods, in particular single-type, goods arrangements on the storage racks on the order and / or assembly trays, in particular order-specific and / or mixed goods arrangements.

In one embodiment, the or one or more of these robots of the order-picking station (s) also place, in particular single-type, goods arrangements on one or more storage racks or fill them with, in particular single-type, goods arrangements, or are / are set up or will / will be for this purpose. are used for this.

Additionally or alternatively, in one embodiment, the or one or more of these robots of the picking station (s) also pick up, in particular, mixed, assembled goods arrangements from one or more order and / or assembly trays or empty them or are / are set up or are for this purpose . is / are used for this.

In other words, the or one or more of these robots of the order picking station (s) can also be used to fill storage racks and / or transport (ready) assembled goods arrangements from or from order and / or assembly trays, in particular for transferring assembled goods arrangements from or to. can be used from compilation trays to order trays. For this purpose, the robot or robots can use the same gripper (s) as for order picking, which can reduce the outlay on equipment, or use different grippers in one design for order picking and for filling or transporting away, which in particular improves the handling of the goods (arrangements) can. In one embodiment, the robot or robots change the gripper for this purpose; in another embodiment, the robot or robots simultaneously guide grippers for order picking and (other) grippers for filling or transporting away.

Such stations are accordingly referred to as picking and loading stations.

Additionally or alternatively, the device also has one or more (pure) charging stations with (each) at least one robot with at least one gripper, which this robot, in particular single-type, goods arrangements, in particular on or in, a or a plurality of supply trays and / or, in particular, accepts mixed, assembled goods arrangements from or from one or more order trays or which is set up or used for this purpose.

By dividing them into, in particular pure, order-picking stations and, in particular, pure, charging stations, these can advantageously be optimized in terms of their respective function in one embodiment.

By setting up or using stations as order picking and loading stations, the outlay on equipment can be reduced and / or the flexibility can be increased in one embodiment.

Charging stations in the sense of the present invention can thus equally be pure charging stations as well as picking and charging stations, and picking stations correspondingly equally pure picking stations as well as picking and charging stations.

In one embodiment, the order-picking and / or loading stations and / or assembly trays are arranged, in particular at least substantially in a circular or ring-shaped manner, around the goods carousel or its axis of rotation. As a result, in one embodiment, the access of the robots can be improved and / or the device can be made more compact.

In one embodiment, the device, in particular the or one or more of its (pure and / or order-picking and) loading stations (each) has one or more reservoirs, in particular on or in which goods arrangements are provided, in order to fill one or more storage racks with them by the robot (s) of at least one (pure and / or order-picking and) loading station, the goods arrangements being supplied, in particular conveyed, in one embodiment before this filling, in one embodiment at least partially automated, and / or unpacked, in particular packaging opened, or which is / are set up for this purpose or is / are used.

Additionally or alternatively, the device, in particular the or one or more of its (pure and / or order-picking and) charging stations, in one embodiment (each) has one or more memories, in particular on or in the one or those Compiled goods arrangements are unloaded from or from one or more order storage by the robot (s) of the station (s), in one embodiment the compiled goods arrangements after this unloading, in one embodiment at least partially automated, packed and / or removed, in particular conveyed away , or which is / are or is / are used for this purpose.

As a result, in one embodiment, the function of the charging stations can be improved and / or the goods carousel can be made more compact.

In one embodiment, one or more of the supply, order and / or assembly trays each, in particular at least two, in one embodiment at least three intersecting support walls which are inclined to the vertical and / or of which at least two in the vertical direction converge at the bottom (towards each other). In a further development, one or more of the support walls of one or more of the storage, order and / or assembly trays form an angle with the vertical or gravitational direction of at least 5 °, in particular at least 15 °, in one embodiment at least 30 °, and / or a maximum of 85 °, in particular a maximum of 75 °, in one embodiment a maximum of 60 °. Additionally or alternatively, in one embodiment, two support walls of one or more of the storage, order and / or compilation trays enclose an angle with one another which is at least 30 ° and / or at most 150 °, in particular, at least substantially 90 °. In particular, an at least essentially cuboid interior space of a storage, order and / or compilation tray can stand, so to speak, on an edge, preferably a point, of its bottom surface.

As a result, in one embodiment goods (arrangements) can advantageously be picked up on the storage, order or compilation trays, in one embodiment self-centering or sliding down.

Additionally or alternatively, in one embodiment, one or more of the supply and / or order trays are arranged on an outside of the goods carousel, in particular the rotor or a support structure of the goods carousel that is rotatable about the axis of rotation and / or arrangement can be improved.

In one embodiment, the device has collectors which, in one embodiment by robots of the device and / or empty, are deposited on, in particular on or in, the order and / or compilation trays and in which goods arrangements are compiled and compiled goods arrangements, in particular by Robots of the device are transported or which are set up or used for this purpose.

In a further development, the collectors are dimensionally stable, in particular made of plastic, metal or the like, and / or have an outer side that faces an inner side of the storage and / or storage area is complementary or congruent (designed). In one embodiment, collectors each have at least two support walls that converge (towards one another), in particular when they are stored in an order and / or compilation tray, and in one embodiment at least three support walls which, in a further development, enclose an angle of at least 30 ° with one another and / or at most 150 °, in particular, at least substantially, 90 °.

In this way, the goods arrangements can advantageously be put together and / or transported, in particular from or between the order trays.

In one embodiment, the gripper of one or more of the robots mentioned here has a vacuum gripper and / or several individually controllable areas for picking up goods.

As a result, goods can be handled advantageously, picked up in groups in one embodiment and deposited individually.

In one embodiment, the vacuum gripper has several individually, in particular linear, in one embodiment by pistons, movable and / or (de) activated or actuated suction cups, with each of which one or more of the goods can be picked up or for this purpose are set up or used. In one embodiment, at least one of the suction cups, in particular pistons, has a support surface which supports an item picked up by another suction device, in particular from below, or is set up or used for this purpose. Additionally or alternatively, in one embodiment, at least one non-actuated suction device supports a non-picked up good when picking up a good by another suction device, in particular against being pulled out of a goods arrangement, or is set up or used for this purpose.

As a result, goods can be handled particularly advantageously, picked up in groups in one embodiment and deposited individually.

In one embodiment, the goods are cuboid. Additionally or alternatively, in one embodiment they have a length of at least 100 mm and / or at most 500 mm and / or a cross-sectional area of at least 500 mm ² and / or at most 10 ⁴ mm ² .

The present invention is particularly suitable for such goods, in particular the aforementioned coffee capsule containers (boxes).

According to one embodiment of the present invention, a method for commissioning goods with the aid of a device described here has the step of: picking up goods from or from one or more storage trays and depositing, in particular these, goods on, in particular on, or in, one or more order and / or at least one compilation trays by the robot (s) of the picking station (s) on the basis of or as a function of goods arrangement orders. In one embodiment, the robot or robots at the picking station (s) pick or pick the goods by assembling order-specific mixed goods arrangements on the order and / or at least one assembly tray (s) from sorted goods arrangements in the supply trays.

Additionally or alternatively, a or the method for commissioning goods with the aid of a device described here according to an embodiment of the present invention has the step of: placing, in particular, goods arrangements, in particular single-type and / or received from the or one of the reservoirs or in one or more storage trays and / or receiving assembled, in particular mixed, goods arrangements from or from one or more order trays and in particular depositing on the or one of the stores, in one embodiment by the robot (s) of the (pure and / or picking and) loading station (s) and / or picking up compiled, in particular mixed, goods arrangements from or from one or more compilation trays and depositing on one or more order trays, in one embodiment by the robot (s) of the picking station (s) . As a result, in one embodiment, a collision between operating personnel when filling the supply trays or emptying the order trays and picking robots can be avoided.

In one embodiment, goods arrangements are fed and / or unpacked from this reservoir and / or assembled goods arrangements after, in particular robotic, picking up from an order storage area and / or removed, in particular by the or The robots of at least one (pure and / or order-picking and) loading station are stored at the or one of the stores and are packed and / or carried away at or through them, in particular conveyed away. As a result, the goods carousel can be made more compact in one embodiment.

Additionally or alternatively, in one embodiment, assemblies of goods, in particular collectors with assemblies of goods, are moved by the robot (s) of the (pure and / or order-picking and) loading station (s) from an order tray to or on, in particular on or in, transferred to another order repository. As a result, in one embodiment (first) partially and / or completely assembled goods arrangements can be robotically repositioned within the goods carousel and thus made more accessible in particular for the arrangement of further goods or for removal and / or order trays cleared and thus used for new goods arrangement orders.

Additionally or alternatively, in one embodiment compiled goods arrangements, in particular collectors with compiled goods arrangements, are transferred by the robot (s) of the picking station (s) from a compilation storage to, in particular onto or into, an order storage.

Thus, in one embodiment, robots pick goods directly from supply to order trays or assemble goods arrangements in order trays. As a result, transport routes of the robots can advantageously be shortened in one embodiment.

Additionally or alternatively, in one embodiment, robots first pick goods from supply to (non-goods carousel) compilation trays or assemble goods arrangements in compilation trays and (only) then transfer them to order trays of the goods carousel. As a result, the goods carousel can be built more compactly in one embodiment.

Additionally or alternatively, in one embodiment, at least one robot of a picking station, in particular when the goods carousel is stationary or rotating, picks up goods from different storage racks and places them on the same order or compilation rack in order to use one, in one embodiment, order-specific or -based, To put together part or all of the goods arrangement. In other words, in one embodiment, at least one robot picks goods from different storage bins, in particular from storage bins with different types of goods, to an order or compilation bin and puts together a desired, in particular mixed, goods arrangement partially or completely there.

Additionally or alternatively, in one embodiment, at least one robot of a picking station, in particular when the goods carousel is stationary or rotating, picks up goods from the same storage bin and places them on different order and / or compilation bins in order to transfer one, in an embodiment, order-specific or -based, goods arrangement partially or completely put together. In other words, in one embodiment, at least one robot picks goods from the same storage bin, in particular from a storage bin with a single-type arrangement of goods, at different order and / or compilation bins and puts together a desired, in particular mixed, goods arrangement partially or completely on each of these.

Additionally or alternatively, in one embodiment, the robots from at least two picking stations, in particular when the goods carousel is stationary or rotating, place goods in the same order or assembly tray in order to partially or completely assemble a goods arrangement. In other words, in one embodiment, at least two robots pick goods on the same order or compilation deposit and thus jointly put together a desired, in particular mixed, goods arrangement partially or completely. In other words, goods arrangement orders can be distributed or distributed among several robots.

In a further development, the robots are synchronized for this purpose and / or the goods carousel has the same rotary position. In another embodiment, a robot of a picking station first places goods in the order tray with the goods carousel stationary or rotating. The goods carousel is then rotated (further) and at the same time and / or subsequently, in particular when the goods carousel is stationary or rotating (further), at least one further robot deposits goods on this order tray in order to partially or completely assemble a desired, in particular mixed, goods arrangement .

Through the above-mentioned picking of goods arrangement orders from different supply trays or on different order or compilation trays by the same robot or on the same order or compilation trays by cooperating robots or in different rotary positions, in one embodiment, in particular in combination, a particularly advantageous, in particular flexible and / or rapid, order picking can be realized.

Additionally or alternatively, in one embodiment, at least one robot from a picking station takes a group of goods from an area advice filing together and stores parts of this group, in one version individual goods or multiple sub-groups of the group recorded together, on various order and / or compilation files. As a result, picking can be accelerated in one implementation.

• - Mittel zum Aufnehmen von Gütern aus wenigstens einer Vorratsablage und Ablegen von Gütern an wenigstens einer Auftragsablage und/oder wenigstens einer Zusammenstellungsablage durch wenigstens einen Roboter einer Kommissionierstation auf Basis eines Güteranordnungsauftrags; und/oder
• - Mittel zum Ablegen von Güteranordnungen an wenigstens einer Vorratsablage, insbesondere durch wenigstens einen Roboter der Vorrichtung; und/oder
• - Mittel zum Aufnehmen zusammengestellter Güteranordnungen aus wenigstens einer Auftragsablage und/oder Zusammenstellungsablage, insbesondere durch wenigstens einen Roboter der Vorrichtung; und/oder
• - Mittel zum Entpacken von Güteranordnungen und/oder zum Zuführen von Güteranordnungen zu einem Reservoir vor dem Ablegen an einer Vorratsablage; und/oder
• - Mittel zum Verpacken und/oder Abführen zusammengestellter Güteranordnungen nach dem Aufnehmen aus einer Auftragsablage; und/oder
• - Mittel zum Überführen zusammengestellte Güteranordnungen, insbesondere Sammler mit zusammengestellten Güteranordnungen, durch wenigstens einen Roboter der Vorrichtung von einer Zusammenstellungsablage zu einer Auftragsablage und/oder von einer Auftragsablage zu einer anderen Auftragsablage; und/oder
• - Mittel zum Aufnehmen von Gütern aus verschiedenen Vorratsablagen und Ablegen an derselben Auftrags- oder Zusammenstellungsablage durch ein Roboter wenigstens einer Kommissionierstation; und/oder
• - Mittel zum Aufnehmen von Gütern aus derselben Vorratsablage und Ablegen an verschiedenen Auftrags- und/oder Zusammenstellungsablagen durch ein Roboter wenigstens einer Kommissionierstation; und/oder
• - Mittel zum Ablegen von Gütern an derselben Auftrags- oder Zusammenstellungsablage durch Roboter von wenigstens zwei Kommissionierstationen; und/oder
• - Mittel zum gemeinsamen Aufnehmen einer Gruppe von Gütern aus einer Vorratsablage und Ablegen von Teilen dieser Gruppe in verschiedenen Auftrags- und/oder Zusammenstellungsablagen durch ein Roboter wenigstens einer Kommissionierstation.

According to one embodiment of the present invention, the device is set up, in particular in terms of hardware and / or software, in particular in terms of programming, to carry out a method described here and / or has:

• - Means for picking up goods from at least one supply tray and depositing goods on at least one order tray and / or at least one assembly tray by at least one robot of a picking station on the basis of a goods arrangement order; and or
• - Means for depositing goods arrangements on at least one storage deposit, in particular by at least one robot of the device; and or
• - Means for picking up assembled goods arrangements from at least one order deposit and / or compilation deposit, in particular by at least one robot of the device; and or
• - Means for unpacking goods arrangements and / or for supplying goods arrangements to a reservoir before they are deposited on a storage tray; and or
• - Means for packing and / or removing assembled goods arrangements after they have been picked up from an order tray; and or
• - Means for transferring assembled goods arrangements, in particular collectors with assembled goods arrangements, by at least one robot of the device from a compilation deposit to an order deposit and / or from an order deposit to another order deposit; and or
• - Means for picking up goods from different supply trays and depositing them on the same order or assembly tray by a robot of at least one picking station; and or
• - Means for picking up goods from the same supply shelf and storing them on different order and / or assembly shelves by a robot of at least one picking station; and or
• - Means for depositing goods on the same order or compilation deposit by robots from at least two picking stations; and or
• - Means for jointly picking up a group of goods from a supply shelf and storing parts of this group in different order and / or assembly shelves by a robot of at least one picking station.

A means within the meaning of the present invention can be designed in terms of hardware and / or software, in particular a processing, in particular microprocessor unit (CPU) and / or a, preferably digital, processing unit (CPU) and / or a data or signal connected to a memory and / or bus system or have several programs or program modules. The CPU can be designed to process commands that are implemented as a program stored in a memory system, to acquire input signals from a data bus and / or to output output signals to a data bus. A storage system can have one or more, in particular different, storage media, in particular optical, magnetic, solid-state and / or other non-volatile media. The program can be designed in such a way that it embodies or is capable of executing the methods described here, so that the CPU can execute the steps of such methods and can thus in particular control the device. In one embodiment, a computer program product can have, in particular, a non-volatile storage medium for storing a program or with a program stored on it To carry out a process or one or more of its steps.

In one embodiment, one or more, in particular all, steps of the method are carried out completely or partially in an automated manner, in particular by the device or its means.

In one embodiment, one or more of the robots mentioned here, in particular a robot of one or more order picking and / or loading stations, are each articulated arm robots or have at least three, in one embodiment at least five, swivel joints.

As a result, in one embodiment, the picking up and depositing of goods (arrangements) can be improved, in particular implemented in a more compact and / or time-saving manner.

• 1: eine Vorrichtung beim Kommissionieren von Gütern nach einer Ausführung der vorliegenden Erfindung in einer Draufsicht von oben;
• 2: die Vorrichtung beim Kommissionieren in einer Seitansicht mit teilweise ausgeblendeten Elementen;
• 3: ein Verfahren zum Kommissionieren von Gütern nach einer Ausführung der vorliegenden Erfindung;
• 4: einen Greifer der Vorrichtung; und
• 5: eine Vorrichtung beim Kommissionieren von Gütern nach einer weiteren Ausführung der vorliegenden Erfindung in einer perspektvischen Ansicht.

Further advantages and features emerge from the subclaims and the exemplary embodiments. For this shows, partly schematically:

• 1 : a device when picking goods according to an embodiment of the present invention in a plan view from above;
• 2 : the device during order picking in a side view with partially hidden elements;
• 3 : a method for picking goods according to an embodiment of the present invention;
• 4th : a gripper of the device; and
• 5 : a device when picking goods according to a further embodiment of the present invention in a perspective view.

1 , 2 show a device when picking cuboid goods, for example coffee capsule containers, according to an embodiment of the present invention in a top view from (vertical) above ( 1 ) or a horizontal side view ( 2 ), in which a charging station and two picking stations (below in 2 ) are hidden for a better overview.

The device has a rotatable goods carousel 10 on which V-shaped supply trays 11 (above in 2 ) and V-shaped order trays 12 (below in 2 ) are arranged.

Circularly around the goods carousel 10 are two (pure) loading stations with six-axis articulated arm robots 21, 22, which have grippers 27 for transporting goods arrangements, as well as six (pure) order picking stations with six-axis articulated arm robots 31, 32, 33, 34, 35 and 36, respectively. which have vacuum grippers 37 for depositing individual goods.

The loading stations also each have a reservoir with a conveyor belt 23 on which cartons with sorted goods arrangements are conveyed, and an unpacking station 24 for opening the cartons, as well as a memory with a packaging station 25 and a further conveyor belt 26 on which cartons with assembled and packaged mixed goods arrangements are conveyed away.

In a step S10 (cf. 3 ) the robots 21, 22 fill storage racks 11 with sorted goods arrangements from the reservoirs and / or remove collectors 13 with ready-made mixed goods arrangements from order trays 12 and store them in the stores.

In addition, the robots arrange empty V-shaped collectors 13 (dashed in 2 ) on.

In the meantime, the robots 31-36 remove goods from the supply trays 11 and place them on the collectors 13 in the order trays 12 in order to put together order-specific mixed goods arrangements there.

Robots 31, 32, 33, 34, 35 and / or 36 can each have goods of different types that are in 2 are indicated by hatched, empty or filled rectangles, can be taken from the supply trays 11 and stored in the same order depository 12 in order to at least partially put together an order-specific mixed goods arrangement in this.

Additionally or alternatively, robots 31, 32, 33, 34, 35 and / or 36 can each remove goods from a supply shelf 11 and store them in various order shelves 12 in order to at least partially assemble an order-specific mixed goods arrangement in each of these.

In a step S20, the goods carousel is rotated around the vertical (perpendicular to the image plane of the 1 ; vertical in 2 ) rotated by 45 °.

Then the process returns to step S10. In this, the robots 31-36 can remove goods from the supply trays 11 and place them in partially filled order trays 12 in order to add to them, in particular to put them together, an order-specific mixed goods arrangement that has already been partially assembled by one or more other robots.

Robots 21, 22, 31-36 and goods carousel 10 are controlled or commanded by a central or distributed controller 40.

4th shows one of the grippers 37 while simultaneously or jointly picking up three coffee capsule containers 101-103 from a single-type goods arrangement 101-104.

The two top suction cups 371, 372 have already been or have already moved in and accordingly report that they are (currently) not available.

Therefore, the three next (uppermost) suction cups 373-375 of the vacuum gripper 37 each suck on one of the containers 101-103. Subsequently, pistons 377 of these suction cups 373-375 are retracted or withdrawn.

The sucker 376, which is not involved, supports the coffee capsule container 104, which is not to be picked up, against being pulled out and remains extended for this purpose.

Support surfaces 378 above the suction cups or pistons support the pulled out containers from below.

5 shows a device when picking goods according to a further embodiment of the present invention in a perspective view. Features that correspond to one another are identified by identical reference symbols, so that reference is made to the above description and only differences are discussed below.

In the execution of the 5 the (pure) order-picking stations with the robots 31-34 each have (at least) one stationary assembly tray 50 which is spaced apart from the goods carousel 10 and which can essentially be of the same construction as one of the order trays 12.

The robots 31-34 arrange empty V-shaped collectors 13 on empty compilation trays 50, which they remove from the order trays 12 of the goods carousel 10 for this purpose.

The robots 31-34 then remove goods from the supply trays 11 and place them on the collectors 13 in the assembly trays 50 in order to put together order-specific mixed goods arrangements there.

The robots 31-34 then transfer these assembled goods arrangements from the assembly trays 50 to free order trays 12, from which the robot 21 of the (single, pure) loading station removes the assembled goods arrangements and places them on the conveyor belt 26.

Thus, picking in the execution of the 1-4 the robots 31-36 put the goods from the supply trays 11 directly into the order trays 12 or put the desired goods arrangements together directly in them.

In the execution of the 5 In contrast, the robots 31-34 initially pick the goods from the supply trays 11 into the compilation trays 50 or initially assemble the desired goods arrangements in these. Then they transfer the assembled goods arrangements from the assembly trays 50 back into the goods carousel 10 or its order trays 12, from which the robot 21 as in the execution of the 1-4 transported away.

This allows the goods carousel to be more compact. On the other hand, in the execution of the 1-4 the distances of the robots 31-36 are shortened.

Although exemplary embodiments have been explained in the preceding description, it should be pointed out that a large number of modifications are possible.

A clocked mode of operation was explained above. In a modification, the goods carousel can also be rotated continuously by its drive 14.

In particular, the two can be referenced with reference to 1-4 and 5 described embodiments are also combined, that is, robots pick both in compilation trays 50 and in order trays 12 or assemble goods arrangements from the supply trays 11 order-specifically. As a result, the device can in particular be used more flexibly.

It should also be pointed out that the exemplary designs are only examples that are not intended to restrict the scope of protection, the applications and the structure in any way. Rather, the preceding description provides a person skilled in the art with guidelines for the implementation of at least one exemplary embodiment, with various changes, in particular with regard to the function and arrangement of the components described, being able to be made without departing from the scope of protection as it emerges from the claims and these equivalent combinations of features results.

List of reference symbols

10

Goods carousel

11th

Supply shelf

12th

Order filing

13th

Collector

14th

drive

21, 22

robot

23

Conveyor belt

24

Unpacking station

25th

Packing station

26th

Conveyor belt

27

Grapple

31-36

robot

37

Grapple

40

steering

50

Compilation tray

101-104

Coffee capsule container

371-376

Mammal

377

Pistons

378

Support surface

Claims (11)

Device for order picking of goods, comprising: - at least one rotatable goods carousel (10) with - supply trays (11) for receiving goods arrangements; - Order trays (12) for receiving goods arrangements; and - a drive (14) for rotating the goods carousel; and - a first picking station with at least one robot (31) with at least one gripper (37) for - picking up goods from at least one supply shelf and - depositing goods on at least one order shelf and / or at least one assembly shelf (50) spaced from the goods carousel , characterized in that at least one storage shelf and / or at least one order shelf and / or at least one assembly shelf inclined against the vertical and / or converging downward in the vertical direction has support walls and / or at least one storage shelf and / or at least one order shelf on an outside of the Goods carousels is arranged. Device according to Claim 1 , characterized by at least one further picking station with at least one robot (32-36) with at least one gripper (37) for - picking up goods from at least one supply shelf and - depositing goods on at least one order shelf and / or at least one spaced apart from the goods carousel Compilation tray (50); Device according to one of the preceding claims, characterized in that the robot of the first and / or at least one further order picking station and / or at least one gripper (27) of at least one robot (21, 22) at least one loading station of the device for - depositing goods arrangements at least one supply tray; and / or - picking up assembled goods arrangements from at least one order tray; and / or - picking up assembled goods arrangements from at least one assembly tray spaced from the goods carousel and depositing them on at least one order tray is arranged. Device according to one of the preceding claims, characterized by - at least one reservoir (23, 24) for providing goods arrangements in order to fill at least one storage bin by a robot of at least one picking and / or loading station; and / or - at least one memory (25, 26) for unloading assembled goods arrangements from at least one order storage by a robot of at least one picking and / or loading station. Device according to one of the preceding claims, characterized by collectors (13) which can be placed on the order trays and / or the at least one assembly tray for assembling goods arrangements and transporting assembled goods arrangements. Device according to one of the preceding claims, characterized in that at least one gripper has a vacuum gripper (37) and / or several individually controllable areas for picking up goods. Device according to one of the preceding claims, characterized in that the device is set up to carry out a method according to one of the following claims and / or the goods are cuboid and / or a length of at least 100 mm and / or at most 500 mm and / or a Have cross-sectional areas of at least 500 mm ² and / or at most 10,000 mm ² . A method for picking goods with the aid of a device for picking goods, which has: - at least one rotatable goods carousel (10) with - storage trays (11) for receiving goods arrangements; - Order trays (12) for receiving goods arrangements; and - a drive (14) for rotating the goods carousel; and - a first picking station with at least one robot (31) with at least one gripper (37) for - picking up goods from at least one supply shelf and - depositing goods on at least one order shelf and / or at least one assembly shelf (50) spaced from the goods carousel , characterized by the step: - Picking up (S10) of assembled goods arrangements from at least one order tray (12) and / or assembly tray (50) by at least one robot (21, 22; 31-36) of the device; and / or characterized in that at least one robot (31-36) of a picking and / or loading station collects a group of goods from a storage bin and stores parts of this group in different order and / or assembly bins; and / or characterized by the following steps: - depositing (S10) of goods arrangements on at least one storage depository (11) by at least one robot (21, 22; 31-36) of the device; - Picking up (S10) of goods from this at least one storage tray (11) and depositing goods on at least one order tray (12) and / or at least one assembly tray (50) by at least one robot (31-36) of a picking and / or Charging station based on a goods arrangement order. Procedure for picking goods according to Claim 8 and / or with the aid of a device according to one of the preceding Claims 1 until 7th , characterized by at least one of the steps: - Picking up (S10) of goods from at least one storage tray (11) and depositing goods on at least one order tray (12) and / or at least one assembly tray (50) by at least one robot (31-36) ) a picking and / or loading station based on a goods arrangement order; - Depositing (S10) of goods arrangements on at least one storage depository (11); and / or - picking up (S10) compiled goods arrangements from at least one order depository (12) and / or compilation depository (50). Procedure according to Claim 8 or 9 , characterized in that - goods arrangements are fed to a reservoir and / or unpacked before being deposited on a storage tray; - Compiled goods arrangements are packed and / or removed after being picked up from an order tray; - The goods carousel is rotated continuously or clocked (S20); - Compiled goods arrangements are transferred by at least one robot (21, 22; 31-36) of the device from a compilation tray to an order tray and / or from one order tray to another order tray; - At least one robot (31-36) of a picking and / or loading station picks up goods from different storage bins and places them on the same order or compilation bin in order to at least partially compile a goods arrangement therein; - At least one robot (31-36) of a picking and / or loading station picks up goods from the same supply shelf and places them on different order and / or assembly shelves; - The robots (31-36) of at least two order-picking and / or loading stations deposit goods in the same order or assembly tray in order to at least partially assemble a goods arrangement therein; and / or - at least one robot (31-36) of a picking and / or loading station collects a group of goods from a storage bin and stores parts of this group in different order and / or compilation bins. Computer program product with a program code, which is stored on a medium that can be read by a computer, for carrying out a method according to one of the preceding claims.

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