NL2004451C2 - ORDER COLLECTION OF CUT FLOWERS AND / OR PLANTS WITH A ROBOT. - Google Patents

Description

P91128NL00

Title: Collecting cut flowers and / or plants with a robot on order

The present invention relates to automated order picking of cut flowers and / or plants with a manipulator.

Collecting cut flowers and plants, in particular living plants with clods such as, for example, potted flowers, ornamental shrubs and the like, still takes place manually in the large distribution centers today. In addition, standardized containers with different cut flowers or plants from 10 pure-type transport trolleys are distributed according to customer orders in a distribution center. In addition to the high physical burden, staffing is also problematic because it prevents more flexible order picking.

Hence the problem underlying the present invention is to improve the collection of cut flowers and / or plants on order. Both cut flowers and plants, in particular living plants with roots or balls, are hereinafter generally referred to as vegetable goods.

This problem is solved by a manipulator gripper device with the features of claim 1, a manipulator with the features of claim 8, an order picking unit with the features of claim 10 and a method with the features of claim 13, respectively. The dependent claims relate to advantageous embodiments.

25

A manipulator grab device according to the invention for a manipulator, in particular a multi-axis robot, a gantry or 2, 4, 5, 4, 4, 4, and 6 scara robot or a linear axis, comprises a gripper base plate and at least one gripper module arranged on this gripper base plate for engaging a container for vegetable goods, in particular for cut flowers or plants, wherein at least one of these gripper modules comprises an arm and a gripping device for engaging a container for vegetable goods, which is adjustable with respect to the gripper base plate . Such a manipulator gripper device enables flexible and efficient handling of containers to be collected by order by adjusting the gripping device.

10

According to a preferred embodiment of the present invention, the manipulator gripper device comprises at least two, in particular four, gripping modules. The gripping modules may, for example, be arranged next to or above each other in a first transverse direction. By using a plurality of gripper modules, the processing capacity when collecting to order can be significantly increased in that in a transport step a plurality of vegetable goods containers arranged next to and / or above one another simultaneously from a feed device, for example a transport wagon or tray, to a discharge device, for example another transport trolley or a conveyor belt can be moved.

Preferably, the same number of containers is not transported at each transport step. According to an existing example for cut flowers, there are now two standardized containers of different sizes, of which a maximum of three larger or four smaller ones can be arranged next to each other in a row on currently used transport trolleys. Accordingly, it is advantageous for a manipulator gripper device to be able to selectively pick up a different number of holders simultaneously, in particular without thereby limiting unused gripper modules limiting the freedom of movement of the manipulator gripper device and colliding, for example, with a frame of a transport trolley. On the other hand, depending on the order picking order or available storage space, it may be expedient to pick up different numbers of holders in various transport steps, here too unused grab modules not only unnecessarily limiting the freedom of movement, but also on account of a large moment of inertia relative to the moment of inertia. gripper base plate requires higher acceleration performance or reduces the achievable transport speeds.

10

Therefore, according to a preferred embodiment of the present invention, gripping modules that are not required can in each case be moved away by an adjustable arm, in particular pivotable, or telescopically arranged on the gripper base plate. In particular, one or more gripper modules can be pivotable against the gripper base plate, preferably automatically, from an extended or extended active position. In this way, unused gripper modules, for example pneumatic, hydraulic, electrical or magnetic, can be folded against the gripper base plate, so that they do not unnecessarily limit the freedom of movement and moreover reduce the moment of inertia.

According to a preferred embodiment of the present invention, one or more, in particular all, gripping devices comprise at least one retaining device, for example one or more, preferably bent, finger (s), in particular for engaging behind an edge of the holder for vegetable goods. Retaining devices can also be manufactured as a suction and / or clamping gripper (s) or combinations thereof.

4

In particular, in order to compensate for positional tolerances between containers for vegetable goods, which are jointly engaged by the manipulator gripper device, one or more of these retaining devices are adjustable relative to the arm in the transversal direction and / or a second arm length direction. . Preferably at least two of these retaining devices can be positioned independently of each other.

A gripping device can for instance comprise at least two fingers for engaging behind a, in particular cut-out, edge of a holder, at least one of which is adjustable in arm length direction, in particular translatively displaceable and / or translatively displaceable in transversal direction. Suction or clamping grippers 15 can in particular then be used if the holders do not comprise cut-out edges, but are smooth. In particular for engaging different containers, the gripping device may comprise disparate holding devices, for example fingers and suction grippers.

By a displacement in the transversal direction, in which the gripper modules are arranged next to each other, a distance or distribution difference between gripper modules on the one hand and holders on the other can be compensated for, because holding devices are shifted relative to the module arms towards the holders. If retaining devices are designed as fingers, then a holder can also be fixed in that two fingers which engage behind a cut-out edge are then spaced accordingly and spread or fixed between two stops of the cut-out edge, so that which form-locking the holder in the transverse direction 30.

5

By adjusting the holding devices in the arm length direction, different distances between the holders and the gripper modules can be compensated for, because holding devices are moved towards holders located further away and thus, as it were, gripper modules of different lengths are realized. In addition to or as an alternative to this length compensation, it is also possible, due to different shifts of retaining devices of a gripping device, to flawlessly grasp a holder which is slightly inclined relative to the gripper module. In particular for this purpose it may be advantageous to adjust two or more retaining devices of a gripping device independently of each other. If, for example, an edge or surface of a holder is inclined in the transverse direction, so that the distance therefrom to the gripper base plate increases in the transverse direction, then a retaining device in the transverse direction can be extended further in arm length direction than a front retaining device, so that the contact or engagement line is supported by both. holding devices becomes parallel to the edge.

Additionally or alternatively, positional tolerances between containers for vegetable goods, which are jointly engaged by the manipulator gripper device, can be compensated in a corresponding manner by changing the distance of the gripper modules relative to each other in the transversal and / or arm length direction.

In particular in combination with movable gripper modules, it is advantageous if the distance between gripper modules in the transversal direction can be changed, preferably automatically, so as to fit in each case suitable, in particular equal distances between, the gripper modules for different numbers of folded-out gripper modules. set.

6

Preferably, two or more, in particular all or all of the gripper modules folded out or extended relative to the gripper base plate are adjusted opposite each other by means of a joint adjusting device, wherein these are for instance adjusted by a chain link, approximately in the form of a so-called 'lazy tongue' , kinematically linked.

According to a preferred embodiment of the present invention, a manipulator comprises two or more arms with one of the above-described manipulator gripper devices each. In this way 10 parallel containers can be engaged and deposited or transported between supply and discharge device and thus the processing capacity can be further increased.

An order picking unit according to the invention comprises, in addition to at least one manipulator and a feed device for feeding a holder arrangement to be collected to order, a measuring device for detecting a, preferably three-dimensional, position of holders, which comprises a remote detection device for detecting a relative distance of a holder in a first direction. This distance detection device is preferably displaceable in a second direction relative to the container to be detected.

Positions of holders on the supply device and / or a discharge device for the removal of a holder arrangement, for example a transport trolley, platform, in particular with several container levels, or a conveyor belt can be detected by this distance detection device. For this purpose, for example, the distance detection device, which may comprise, for example, a pivotable laser-transmitter-receiver unit, and the holder at at least one level 30 to be detected are arranged together (first dimension x) and the distances (second 7 dimension y ) of individual holders to the distance detection device in a defined angle measure or position (third dimension p and z, respectively) detected. In this way, as will be explained in more detail below, the positions of existing holders 5 can be taken into account when planning which or how many holders to grip or where they can be placed, and in this way the order picking is optimized. Preferably, the position of a cut-out edge or other striking shape or contour for engaging a holder is determined from the detected distances, whereby detection errors, for example due to hanging plants, can be compensated on the basis of the geometry of the holder known per se. .

According to a method according to an embodiment of the present invention, a container arrangement to be collected is first of all supplied to an order-collecting location, in particular the order-picking unit described above, because, for example, a transport truck or tableau enters, on which the containers with vegetable goods, preferably on multiple container levels. This is preferably a kind of pure container arrangement of containers, which all contain the same vegetable goods, for example the same cut flowers or plant species.

A process controller of a manipulator selects containers to be transported from the supplied container arrangement in accordance with an order picking command and determines a drop position for it. Hereby, it is preferably possible to take account in each case of detected positions of holders of the supplied holder arrangement and / or detected positions of deposited holders on a discharge device, for example a transport trolley, tableau or conveyor belt to be collected to order.

8

If, for example, the process control determines, on the basis of detected positions of deposited containers, at a level of the discharge device that only a few containers which still have to be deposited on the discharge device 5 can be deposited at this level, then the For this reason, control on the basis thereof, for example, initially only selects the corresponding, small number of supplied containers and places them at this level, in order to subsequently place the remaining containers at a different level that it can accommodate. Alternatively, the process control can select a different level for depositing, on which more containers can be deposited.

On the other hand, if the process control determines on the basis of detected positions of supplied containers at a level of the feed device 15 that only fewer containers are available at this level than there can be arranged on the discharge device according to the order picking command, then the control can be based on first of all select and transport only the corresponding, smaller number of supplied containers, in order to subsequently select the still missing supplied containers of a different level. Alternatively, the process control can select a different level at which more supplied containers are available.

After the selection, the manipulator grasps the selected containers and transports them to the discharge device to place them there. Here too, account can be taken of detected positions of holders of the supplied holder arrangement and / or detected positions of deposited holders on a discharge device. In particular, the distance of gripping devices from individual gripping modules in transversal and / or arm length direction and thereby if necessary also the 9 gripping line by means of support devices of the gripping devices can be adjusted to the detected positions and thus distribution and distance differences such as inclined positions can be of holders, wherein the gripping devices and / or the gripping module are / are adjusted.

Both gripping selected containers on the feed device as well as placing gripped containers on the discharge device, as well as in particular also transporting engaged containers can take place on the basis of respectively taking into account the contents, in particular of the vegetable goods in the holder arrangement.

Different cut flowers or plants require a different dynamic procedure from the holder containing these cut flowers or plants. High and / or top-heavy cut flowers or plants, short and / or stalk-like cut flowers or plants, bending weak cut flowers or plants hanging down over an upper container edge, for example, lead to different center of gravity positions, inertia distributions and weights. Because this is taken into account in the determination of the engagement, depositing or transport strategy, in particular with regard to the movement of the movement and its dynamics when moving the manipulator, the order picking can be optimized. Holders with higher, top-heavy vegetable goods can, for example, be moved more slowly away from the feed device and set down on the discharge device and / or tilted more firmly against the transport or accelerating device during transport between the feed and discharge device.

The contents of the container can also be taken into account at the destination of a drop position. For example, when collecting bend-weak cut flowers or plants hanging down over an upper container edge on order, larger distances between adjacent deposition positions can be taken into account. For this purpose, a drop-down position for the holder is preferably determined for placing a gripped holder on a discharge device, because positions of already placed holders on the discharge device are detected and thus sufficient free spaces are determined on the discharge device. In general, the detection of container positions within the meaning of the present invention can also comprise the detection of free spaces, parking levels and / or obstacles, for example boundaries of transport carriages or the like, and in particular the search of the supply and discharge device.

The contents of containers, in particular the cut flower or plant species, can be obtained by process control, for example from a material flow control or by detecting corresponding signatures on the supplied container arrangements.

Preferably, during transporting and / or depositing gripped containers to positions on the discharge device, positions of containers from the supplied container arrangement and / or during the return of the manipulator gripper device to the feeding device and / or during gripping of supplied containers, positions of deposited containers are placed. containers detected. On the one hand, this parallel detection and robot movement can save time and thus increase the processing capacity. On the other hand, the detection of container positions during the transport or return movement allows an optimization of the transport or return path.

If, for example, the process control determines during a transport step that sufficient further supplied containers are only available at a different level of the feed device, the manipulator can go directly to this other level after depositing.

In an embodiment of the present invention, the manipulator loads the discharge device until the number of holders of the plant species supplied, as determined by the order picking order, is reached. Subsequently, the feed device is removed from the order picking place, for example, a transport trolley is driven out of an order picking unit, and a new feed device 10 with other plants is supplied to the order picking place, which is processed in the same way in accordance with the order picking order. This is repeated until the order picking order has been completed, for example until a discharge device in the form of a transport trolley 15 to be collected to order is filled in accordance with this order picking order.

In the same way, different discharge devices can also be loaded successively from the same feed device, wherein by repeating this sequence with different feed devices 20, all discharge devices in succession are filled in accordance with the order picking order. Incidentally, mix forms are also possible, for example, because a supply device is transformed by a partial discharge into a discharge device to be collected to order, when the number of containers that the discharge device must contain according to the order picking order is greater than the surplus of the available on the supply device. holders. If, for example, an supplied first transport trolley is filled with 30 rose holders, and the order picking order comprises 20 rose holders, it may be advantageous to transfer from the supplied first transport trolley 10 rose holders to another second second transport trolley and the first rose carriage containing 12 rose holders as to be returned to the material flow on an order-collected transport trolley.

Further advantages and features are apparent from the dependent claims and the exemplary embodiments. To this end, partly schematically shows:

FIG. 1: a manipulator gripper device according to an embodiment of the present invention with four engaged holders for vegetable goods in a horizontal section;

FIG. 2: the manipulator gripper device according to fig. 1 with three engaged holders for vegetable goods;

FIG. 3A: a discharge device during the process step according to FIG. 3B; FIG. 3B: an order picking unit with a robot during a method step according to an embodiment of the present invention;

FIG. 3C: a feed device during the process step according to% 3B;

FIG. 4A - 4C: the discharge device, order picking unit 20 or feeding device during a further process step in accordance with the representation in FIG. 3;

FIG. 5A - 5C: the discharge device, order picking unit or feeding device during a further process step in accordance with the representation in Fig. 3; FIG. 6A - 6C: the discharge device, order picking unit or feeding device during a further process step in accordance with the representation in Fig. 3; and

FIG. 7A-7C: the discharge device, order picking unit or feeding device during a further process step in accordance with the representation in fig. 3.

13

FIG. 1 is a horizontal sectional view of a manipulator gripper device 2 according to an embodiment of the present invention with four gripped holders 211 to 214 for vegetable goods, for example cut flowers or live plants with clods. The device comprises four gripper modules of the same construction, which are arranged side by side in a transversal direction (left-right in Fig. 1) on a gripper base plate 50, which plate is in turn attached to a robot 1 (see Fig. 3B) .

Each gripper module comprises an arm 11, 21, 31 and 41, respectively, and a gripping device 12, 22, 32, and 42 for engaging a holder which is relative to the arm in the transversal direction and an arm length direction (up-down in Fig. 1). ) is adjustable.

To this end, two bent fingers 14, 15 of each gripping device for engaging a holder 211 (left in Fig. 1) behind a cut edge 211.1 in the arm length direction on slides 16, 17 are translatably displaceable in turn transversely are arranged on a plate 20 attached to the arm 11 and thus jointly form a gripping device 12 adjustable against the arm 11. In the exemplary embodiment shown in Fig. 1, the fingers 14, 15 and the slides 16, 17 are each motor-driven independently of each other by threaded rods and for this purpose controlled accordingly by a robot control (not shown).

25

As in particular with the second gripper module from the left in fig.

1 is illustrated by double arrows, a distance difference d between different holders 211, 212 and the respective gripper modules can be compensated by displacement of the fingers in arm length direction. To the same extent, as is shown in particular by the double arrows, in the third 14 gripper module in Fig. 1, a displacement difference T can be compensated for by a displacement of the locators in the transversal direction between juxtaposed containers 211 to 213 and the respective gripper modules. Corresponding adjustment of the fingers in the transverse and arm length directions can, as is shown in the fourth gripper module on the right in Fig. 1, also compensate for an inclined position of a holder 214.

To this end, the robot 1 (see Fig. 3B) first of all places the gripper device 2 in a starting position, in which all the fingers engage from below on the respective cut-out edges of the holders. In this case, the individual fingers are optionally adjusted in transverse and arm-length directions such that grips are also made behind edges of which the distance to the gripper module or the adjacent holder 15 or whose angular dimension deviates from a standard position. Subsequently, the fingers of each gripper module are pulled against a support surface of the gripping device towards the arm and thereby spread apart, so that the above-mentioned positional tolerances are eliminated and the holders are seated form-fittingly. Because the distance of the gripper modules relative to each other is changed in transversal and / or arm length direction, a plurality of holders can be engaged simultaneously by means of the manipulator device according to the invention, which containers are not exactly in standard positions.

The gripper modules are automatically pivotable about a pivot axis 13 relative to the gripper base plate by means of pneumatic cylinders (not shown) and kinematically coupled by a hinge chain in the form of a so-called 'lazy tongue' (not shown) such that folded-out gripper modules pass through a common adjusting device is equidistantly spaced relative to each other in the transverse direction.

In the exemplary embodiment shown in Figs. 1, the fourth gripper module is not adjustable in the transversal direction, in order to allow a maximum equidistant distance distribution of the other three gripper modules. In a different embodiment, all gripper modules can also be adjusted equidistantly.

As has been clarified with regard to Fig. 2, it is hereby possible, for example, to engage only three more spaced apart or larger holders 111 to 113 simultaneously, without the fourth pivoting inwardly against the gripper base plate 50 about the axis of rotation 43 gripper module substantially restricts handling of the gripper device or induces additional inertia forces on the basis of a large lever arm. For this purpose, for example, the arm 41 of the fourth gripper module is folded against the gripper base plate 50 and the other three gripper modules are set apart by the link chain such that their distribution corresponds to the distribution T of the larger holders 111 to 113. Subsequently, these holders can be engaged as explained above with reference to Fig. 1. Although it is not shown in the figures, it is equally possible to fold other gripper modules against the gripper base plate, possibly also without changing the distribution of the gripper modules, if, for example, only three or fewer small holders need to be engaged, in order to obstruction and to minimize inertia load due to unused grab modules.

With reference to the series of figures FIG. 3 - FIG. 4 - "FIG. 5 FIG. 6 30 -" FIG. 7 successively becomes an automatic order picking according to the invention of plants contained in containers in an order picking unit shown in FIG. 3B is shown in broken lines.

To begin with, a container arrangement 5 to be collected to order on a first transport trolley 3 and a subsequent transport trolley 4, on which will be collected on order, is placed in the unit. The first transport trolley 3 is of a kind pure and contains four larger containers 111 to 123 with the same vegetable goods, for example cut flowers or plants of the same kind, on an upper, not fully loaded level. An underlying level is empty, a fully loaded level below includes six larger containers 311 to 323 with the same vegetable goods, just like a lower level. The holders on the feed transport trolley 3 are indexed in tenser notation, the first digit being the original level ("1" = upper level), the second digit the row ("1" = on the robot side) and the third figure represents the position in this row ("1" = in the front feed direction). Figures 3B, 4B, 5B, 6B and 7B, respectively, show the order picking unit from above, while Figures 3A, 4A, 5A, 6A and 7A respectively, the discharge transport trolley 4 and Figures 3C, 4C, 5C, 6C and 7C respectively, the supply conveyor trolley from the to show the side facing the order picking unit, as shown in Figs. 3B, 4B by the visibility arrow "III A", "IV C".

A 3D measuring device then detects 5 positions of upper-level containers. To this end, a distance detection device in the form of a laser sensor, which is shown in Fig. 3B by means of a filled circle, along a vertical column, which is shown by means of a non-filled square, in a second direction relative to of the holders to be detected shifted to the level to be detected (perpendicular to the drawing plane of Fig. 3B). In a variation (not shown), the supply truck can also be raised or lowered vertically instead. At this level, the laser sensor detects the distance "y" to the holders over an angle range shown in Fig. 4B with "p" and pivots for this purpose around the vertical column. A favorable embodiment can also comprise a multiple number of distance detection devices and / or an operation of the detected distances, which, based on per se known geometry of the standardized containers for vegetable goods, for example the cut edges (see figures 1, 2) of these holders.

In accordance with an order picking order, six larger and four smaller containers will be collected to order on the transport trolley. After the 3D measuring device 5 has detected the positions of the three front, upper larger holders 111 to 113, the process controller selects the holders 111 to 113 and grabs a robot 1 with a manipulator gripper device, such as those previously described with regard to FIG.

1, 2 has essentially been described simultaneously on all three adjacent containers. A fourth, not required, gripper module is thereby folded against the gripper base plate and small positional tolerances between holders 111 to 113 are compensated for by adjusting the fingers of the gripping devices of the individual gripper modules.

In the meantime, the 3D measuring device 5 detects that the upper level of the discharge transport trolley 4 is free. Based on this, the process control determines a drop position for the engaged holders 111 to 113 and places it there, as Fig. 4 shows.

During the transport and the placing of the holders 111 to 113, the 3D measuring device 5 detects that only one larger holder 123 is available at the upper level of the supply transport trolley. For this reason, the laser sensor is shifted along the vertical column to detect the level below. After the process control has recognized that no containers are available at this level, the third level below, which is shown in broken lines in Fig. 5B, is searched in a corresponding manner.

After the process control, based on the detected positions of the holders 311 to 313, has established that there are three larger holders that can be engaged simultaneously by the gripper device 2, the robot 1 becomes 111 to 113 after the three holders have been set down ( Fig. 4) brought directly to the third level of the feed transport trolley 3 and there engages the three holders 311 to 313 (Fig. 5). In the meantime, the 3D measuring device 5 detects the positions of the containers 111 to 113 that have already been placed on the discharge transport trolley 4 and thus ensures that the engaged containers 311 to 313 can be placed on the upper level.

After six larger containers 111 to 113, 311 to 313 have been moved in only two transport steps from the supply truck to the discharge truck, four smaller containers 20 are charged in accordance with the order picking order. To this end, during transport and depositing of the three holders 311 to 313, the first transport trolley 3 was removed from the order picking unit and replaced by a second transport trolley 3 ". It is equally pure and contains at its second highest fully loaded level eight smaller containers 211 to 224 for vegetable goods, for example cut flowers or plants of the same species, which is different from those in the larger containers 111 to 313. The upper level is empty, the two lower levels are also fully loaded and also contain eight smaller containers with vegetable goods of the same kind.

19

The 3D measuring device 5 recognizes that no containers are available at the upper level, and then scans the second layer below it, which is shown in broken lines in FIG. 6B. After the process control, based on the detected positions of the holders 211 to 214, has determined that there are four smaller holders that can be engaged simultaneously by the gripper device 2, the robot 1 becomes 311 to 313 after depositing the three holders. Fig. 6) brought directly to the second level of the second supply transport trolley 3 ', the fourth gripper module being folded out and all four of the gripper modules being set at an equidistant distance corresponding to the distribution of the container arrangement 211 to 214 (Fig. 7), to engage these holders and to place them on the discharge transport trolley 4. To this end, during the engagement, the 3D measuring device 5 scans the second, free level of the discharge transport trolley 4, at which the process control determines the drop positions there for the containers 211 to 214.

In contrast to the hitherto required ten manual movements of each 20 kg heavy containers for vegetable goods, collecting on order in accordance with the present invention can take place very quickly in three transport steps with the aid of a robot, the scanning of an application or transport trolley during the transport step and during the planning of the transport strategies, ie which levels can be approached, etc., further increases efficiency. Due to the collapsible gripper module and its fingers that are adjustable relative to each other, different, even not precisely positioned, holder arrangements can be handled with the manipulator gripper device.

2004451 -

Claims (17)

A manipulator gripper device (2) for a manipulator (1), in particular a multi-axis robot (1), gantry robot, SCARA robot or a linear axis, for engaging holders (111 - 323) for vegetable goods, in particular for cut flowers and / or plants, with a gripper base plate (50) and at least one gripper module arranged on this gripper base plate (50) for engaging a container for vegetable goods, wherein at least one gripper module comprises an arm (11, 21, 31, 41) and a gripping device (12, 22, 32, 42) for engaging a container for vegetable goods, which is adjustable relative to the gripper base plate, characterized in that two or more gripping modules are provided, the non The required gripping modules can be moved away by an adjustable arm, in particular pivotable or telescopically arranged on the gripper base plate (50). Manipulator gripper device according to one of the preceding claims, characterized in that the at least one gripping module is pivotable, in particular automatically, in the direction of the gripper base plate. Manipulator gripper device according to one of the preceding claims, characterized in that the distance of the gripper modules from each other can be changed in a transversal and / or arm length direction. Manipulator gripper device according to one of the preceding claims, characterized in that a gripping device comprises at least one 2004451 holding device, in particular at least one, preferably bent, finger (14, 15) for a container for vegetable goods. 5. Manipulator gripper device as claimed in claim 4, characterized in that the holding device of a gripper module is adjustable relative to the arm of the gripper module in a transversal direction and / or arm length direction. 6. Manipulator gripper device as claimed in any of the foregoing claims 4 to 5, characterized in that at least two retaining devices can be positioned independently of each other. 7. Manipulator gripper device as claimed in any of the foregoing claims, characterized in that at least two gripper modules can be adjusted against each other by a common adjusting device or separate adjusting devices. 8. Manipulator, in particular a multi-axis robot (1), gantry robot, SCARA robot or linear axis, with a manipulator gripper device (2) according to one of the preceding claims. 9. Method for using a manipulator according to claim 8, for automatically collecting, on order, vegetable goods contained in containers (111 - 323), in particular cut flowers and / or plants. 10. Order-picking unit for automatically collecting on-demand vegetable goods contained in containers (111 - 323), in particular cut flowers and / or plants, with a manipulator, in particular a multi-axis robot (1), a gantry robot, a SCARA robot or a linear axis, with a manipulator gripper device (2) according to one of the preceding claims 1 to 7; a feeding device (3, 3 ') for feeding a holder arrangement (111 - 323) to be collected to order; and a measuring device (5) for detecting a holder position, which comprises a distance detection device for detecting a distance (y) relative to a holder in a first direction. The order picking unit according to claim 10, wherein the distance detection device is movable in a second direction relative to the holder to be detected. 12. Order-picking unit according to one of the preceding claims 10 to 11, wherein the supply device and / or a discharge device (4) for the removal of a container arrangement gathered to order is a transport trolley or platform, in particular one with a plurality of container levels, or a conveyor belt. A method for automatically ordering, on demand, vegetable goods contained in containers (111 - 323), in particular cut flowers and / or plants, in particular according to claim 10, comprising the steps of: a) supplying a order to collect container arrangement 25 (111 -323); b) selecting the container (111 - 113; 311-313; 211 - 214) to be transported from the supplied container arrangement corresponding to the order picking command; c) engaging the selected holder with a manipulator 30 (1) according to claim 8; and d) transporting the engaged container to a discharge device (4). 14. Method as claimed in claim 13, characterized in that, during transport of the engaged container to the discharge device and / or for placing the engaged container on the discharge device, a position of containers of the supplied container arrangement is detected. A method according to claims 13 to 14, characterized in that a drop position for the holder according to predetermined criteria is determined for depositing an engaged holder on the discharge device. A method according to any one of the preceding claims 13 to 15, characterized in that, in particular during the supply of supplied containers to the supply device and / or during the engagement of supplied containers of the supply device, a position of deposited containers, a free space and / or a deposit level on the discharge device is detected. 20 A method according to any one of the preceding claims 13 to 16, characterized in that selecting the container to be transported from the supplied container arrangement, 25. determining a depositing position, engaging the selected container, transporting the engaged holder, and / or the depositing of an engaged holder occurs on the basis of the plants in the supplied holder arrangement, detected positions of holders of the supplied holder arrangement, and / or detected positions of deposited holders on the discharge device. 2004451