An automated storage and retrieval system including at least one autonomous transport vehicle, a transfer deck that defines a transport surface for the vehicle, at least one reciprocating lift, a first and second pickface interface station connected to the deck and spaced apart from each other, each station forming a pickface transfer interfacing between the vehicle on the deck and the lift at each station so that a pickface is transferred between the lift and the vehicle at each station, wherein the vehicle is configured to pick a first pickface at the first station, traverse the deck and buffer the first pickface, or at least a portion thereof, at the second station so that the second station has multiple pickfaces buffered on a common support in an order sequence of pickfaces according to a predetermined case out order sequence of mixed case pickfaces.

Magnetic coupling mechanisms for robotic arm end effectors are disclosed. In particular, a magnetic coupling mechanism couples a detachable tool, such as a suction gripper, to a tool changer base of a robotic arm tool of an end effector. Magnetic coupling between the robotic arm tool and the detachable tool allows for breakaway when a sufficient force is applied to the robotic arm tool and/or the detachable tool to separate the two. The decoupling may be achieved via a tool rack. An exemplary system for coupling a detachable tool to a motion device includes a first magnetic ring affixed to a distal end of the motion device, where an inside of the first magnetic ring forms a first hollow chamber; and a second magnetic ring affixed to a proximal end of the detachable tool, where an inside of the detachable tool forms a second hollow chamber.

The present disclosure provides a warehousing system, a material transporting method, a control terminal, a robot and a storage medium. Where the robot performs material fetching according to a control instruction of a control terminal, transports a material to a destination, and automatically docks with a conveyor line at the destination so as to automatically transport the material to the conveyor line. Manual participation is not needed in the material transporting process, therefore material transporting efficiency can be improved; besides, by configuring different conveyor lines corresponding to different workstations, the material conveying of each workstation does not affect each other, and the workstation with low material processing efficiency does not cause effect on other workstations, thereby facilitating to improve overall work efficiency of all workstations.

Disclosed is a sorting and distribution system for sorting a number of different types of articles to a number of different clients depending on types and amounts of articles ordered by the different clients. The system comprises a plurality of article tracks and a plurality of order tracks arranged substantially transverse to the plurality of article tracks. Each order track is divided into m order track parts. The system further comprises a control unit controlling movement of the plurality of order tracks and movement of articles arranged on the plurality of article tracks to the plurality of order tracks such that an article positioned on a first article track is moved to a first order track part of a first order track when a first client to which the first order track part is associated has ordered a first article type.

A picking station (19) as well as a storage and order-picking system (1) for automatic picking and automatic packaging of articles (10a . . . 10p) is specified. A packaging machine (25) operated in an automated manner and a goods-out point conveyor system (20) as well as different types of picking zones (24a . . . 24f), in which the articles (10a . . . 10p) for an order are assembled and prepared for the packaging process, are comprised thereby. In particular, the articles (10a . . . 10p) are stacked on top of each other to form an article stack (41) and are subsequently discharged onto a feed conveyor system (26) leading to the packaging machine (25) or directly into the packaging machine (25). Moreover, a method for operating the picking station (19) described and/or the storage and order-picking system (1) described is specified.

Robotic gripping devices and methods for performing a picking operation. The methods described herein may involve positioning a gripping device with respect to an item to be grasped and then executing a first picking operation using the gripping device to obtain a grasp on the item. The methods may then involve executing at least two of a force detection procedure to detect a force applied to a portion of the gripping device, a grasping space detection procedure to detect an item in grasping range of the gripping device, a pressure detection procedure configured to detect pressure in an airflow path, and an item load detection procedure to detect force in a mechanical load path of the gripping device.

Described are systems, methods, and apparatus for automated item sortation and consolidation of items of a consolidation set. The system includes a consolidation station in which a series of automated devices, robotic arms, conveyors, scanners, etc., move and consolidate items of consolidation sets. The automated devices are controlled by an inventory management system that sends instructions to the various devices to coordinate operation of those devices and to coordinate flow of items through the consolidation station.

A system for assembling and dispensing an order made up of one or more individually packaged items from a plurality of different individually packaged items includes a storage module containing one or more packages of each of the items, and a conveyor having selectively assignable spaces configured to receive the packaged items associated with a particular order and to transport the packaged items to a processing location. A pick device is movable relative to the storage module and is configured to retrieve a package from the storage module. A transfer station adjacent the conveyor receives one or more of the packaged items from the pick device and an actuator associated with the transfer station moves the packaged items from the transfer station to the conveyor when the assigned space associated with the order is in registration with the transfer station.

The invention relates to a method for picking order goods which are allocated to an order comprising a plurality of shipping containers. In the method, order goods allocated to the order are removed from a store (2), transported into a dynamic buffer (5, 5a, 5b) and stored there temporarily. The dynamic buffer (5, 5a, 5b) comprises an infeed line (6), an outfeed line (7), a plurality of buffer lanes (8) arranged between the infeed line (6) and the outfeed line (7), and at least one return lane (9) arranged therebetween. If a portion of the order goods available in the dynamic buffer (5, 5a, 5b) is sufficient to fill a predefinable number of shipping containers and is ready for packing, this portion of the order goods ready for packing is discharged from the dynamic buffer (5, 5a, 5b), transported to a picking workstation (10) and transferred, there, into the predefined number of shipping containers. The predefined number of shipping containers is smaller here than the total number of shipping container necessary to fulfill the order. The invention also relates to a goods storage system (1a . . . 1g) for carrying out said method.

Devices, systems, and methods for determining whether a container is empty in the context of robotic picking solutions. The system includes a plurality of sensors configured to gather container data regarding a container at a first location, wherein the container data includes at least two of weight data related to the container, depth data related to the container, and color sensor data related to the container, and a processor configured to execute instructions stored on a memory to provide a sensor fusion module configured to process the received container data to determine whether the container is empty.