DE102016105570B4 - Implementing device for products as well as methods for their operation - Google Patents

Abstract

Conversion device for converting products (99) from a delivery area (8), in particular a product strip (8), to predetermined positions, in particular the nests (3) of trays (4), in a delivery area (9) by means of
- A plurality of picker (1.1-1.4), each having a fastening end (1.1b to 1.4b) and a movable gripping end (1.1a to 1.4a), wherein
- a plurality of pickers (1.1-1.4) with their respective attachment end (1.1b-1.4b) are attached to a common picker base (2),
- At least a portion of the picker base (2) in a base direction (10c) is movably arranged relative to both the delivery area (8) and the delivery area (9) and
- The picker (1.1-1.4) in the direction of movement or the direction of the picker base (2), the base direction (10c), are arranged one behind the other, characterized in that the picker base (2) is a disc (2a) or a ring which is rotatable about a central perpendicular base axis (2 ') to the plane of the disc (2a) or the ring, respectively.

Description

field of use

The invention relates to transfer devices with which products are converted, for example, in trays, which is usually done with the help of robots, so-called. Pickers, which is why such a transfer device is commonly referred to as a picker road.

II. Technical background

As a rule, the products are transported horizontally lying on an approximately horizontally moving product band, for example cookies from a baking line, while - often running parallel to the product band - the container, in which the products are used, are transported on a container belt. This can be done in synchronism as well as in the opposite direction, and also an intersecting with the product band container band is possible.

Partly, the products should not even be used in containers, but merely e.g. at certain positions of a container band, but on which there are no containers are stored for the purpose of grouping.

In the following, the storage positions for the products - regardless of whether they are in a container receiving the products or merely on a storage surface - are referred to as nests, which need not be form-fittingly defined nests, but merely predetermined storage positions.

In the most common case of mutually parallel product band and container band they are arranged as close to each other as possible and over the bands are - in the direction of the bands behind each other - usually arranged a plurality of pickers that implement the products in the container, so in the direction of movement of the container whose degree of filling along the Picker Street increases.

Of course, the primary goal is always that on the one hand only completely filled containers or complete groups of products leave the Umsetzbereich and on the other hand at the end of Umsetzbereiches the product band is empty, so no products are left on it.

Especially when different varieties of products are delivered to each other on the product band and are to be stored in a certain scheme in the containers, this already represents a high logistical requirement.

The secondary objective is that the transfer device can implement as many products as possible per unit of time, for which special control methods have been developed.

In this context, it should be noted that the conversion time for a product from its capture to its storage in the container for the most part from the travel time between the receiving position and the storage position - especially when viewed from above - and this travel time thus on the one hand from the distance between the product position on the product belt and the nest position on the container belt, and on the other hand how quickly the picker can be accelerated together with the product after it has been picked up in the direction of the container belt and can be decelerated there again before dropping.

Since the possible acceleration is greater, the lower the mass to be accelerated, which essentially consists of the picker arm, the primary aim is to keep the mass of the picker arm as small as possible.

On the other hand, as a secondary limit there is an upper limit to the maximum allowable acceleration, which depends on the properties of the product to be reacted as well as on the adhesion of the product to the picker, which the product often holds with the aid of a vacuum cleaner.

The tertiary objective continues to be that the space required - especially when viewed from above - is as low as possible for such a transfer device. For this reason, an attempt is made to arrange the required number of pickers in the smallest possible space.

From the DE 10 2009 060 271 A1 For example, a device for converting products is known in which a plurality of pickers are fastened with its attachment ends to a fixed picker base. The attachment ends of the pickers are movable in two directions to pick up products from a conveyor and place them in a storage area.

At the time of the DE 42 08 818 A1 Known device can be moved in the x- and y-direction picker by the picker along the y-direction are slidably mounted on a picker base and the picker base itself is slidably mounted along the x-direction. The pickers attached to a picker base are operated separately and simultaneously perform mutually differing movements.

Furthermore, from the EP 0 439 741 A1 a device for the conversion of products is known in which a plurality of pickers can be moved together with a movable picker base between two conveyor belts along one and the same way back and forth.

From the DE 37 09 046 C1 is a picker base in the form of a circulating belt with attached pickers known. Disposed along the belt are two stations, a pick and place station, each comprising a motor for driving the tape. The drive speeds can vary between the stations, for example, be adapted to the respective conveying speed of the products in the receiving or Absetzbereich. Temporary speed differences along the belt are compensated by the flexibility of the belt and the belt loops located between the stations.

III. Presentation of the invention

Technical task

It is therefore an object of the invention to provide a transfer device and a method for their operation, which offers a high conversion rate with low energy consumption in a compact size of the device despite simple and inexpensive construction.

definitions

For the purposes of the present invention, some terms that are frequently used in the following are intended to be defined in more detail below:

Robot / Picker:

This is to be understood as meaning a device for handling products which is fastened with its attachment end to another assembly and with its gripping tool, usually fastened at the opposite end, the gripping end, e.g. a nipple, can grab and transport a product. In this case, the gripping tool is movable relative to the attachment end not only in the vertical, ie in a first spatial direction, but also in at least one, preferably the other two, spatial directions.

up down:

In most cases, in the delivery area, the products are provided in an approximately horizontal, unidirectional, delivery area, such as a product conveyor belt, product line for short, and / or the trays to be filled in an approximately horizontal, unidirectional direction , Area, the delivery area, such as a container band provided.

The entire transfer device including the picker is then located above these surfaces to take the products from above and implement can.

In this sense, the term top or bottom is used for the relative position of transfer device to the products and trays.

In a few exceptional cases, however, the products in the delivery area and / or in the delivery area can not be presented essentially horizontally next to one another but vertically one above the other, for example in special compartments such as on a shelf.

The invention is analogously also applicable, wherein the terms above and below then in the sense of front or back, or in front or behind to interpret.

Climb / Run:

On the other hand, when the products, on the one hand, and the trays, on the other hand, move parallel to one another in the device, it is conceptually distinguished whether this occurs in the same direction (synchronism) or in opposite directions (counter-rotation).

However, these terms are also applicable when the movement directions of the products (product direction) on the one hand and those of the trays (nest direction) on the other hand intersect, but at an intermediate angle that deviates from 90 °:

For as soon as this is the case, it depends on the parallel components of the two directions of movement, which runs parallel to the bisector of the smaller of the two intermediate angles, whether they are rectified (synchronous) or counter-directed (counter-rotation).

Rotational speed:

By this is meant the angular velocity with which a mounting end of a picker moves due to the movement of the picker base to which it is attached or in which it is running.

If the picker base does not perform a round, but for example, a rectangular, orbit, this orbital velocity, ie angular velocity, can vary in the course of a complete orbit, even if the Absolute speed of the attachment point on the picker base is constant.

• - der Umlaufgeschwindigkeit der Picker-Basis,
• - der Absolutgeschwindigkeit des Befestigungsendes des Pickers,
• - dem radialen Abstand des Befestigungspunktes des Befestigung-Endes des Bäckers vom Drehpunkt einer runden Picker-Basis bzw. bei einer Picker-Basis, die einen umrunden Umlauf vollzieht, der absoluten Geschwindigkeit des Befestigungsendes,
• - der Relativgeschwindigkeit des Greifendes des Pickers gegenüber seinem Befestigungsende.

The absolute speed of movement of the gripper end of a picker thus depends on a variety of factors:

• the speed of rotation of the picker base,
• the absolute speed of the attachment end of the picker,
• the radial distance of the attachment point of the attachment end of the baker from the pivot point of a round picker base or, in the case of a picker base, which makes a circumnavigating circulation, the absolute speed of the attachment end,
• - The relative speed of the gripping end of the picker relative to its attachment end.

Circulation and circulation direction:

In the following description it is explained that the attachment end, with which a picker is attached to the picker base, makes an annular closed circulation when the picker base moves.

However, if the attachment end of the picker on the picker base is transversely movable in addition to its primary direction of movement caused by the picker base, and such lateral movement occurs during the revolution, the starting point of the revolution would not necessarily coincide with the end point of the revolution have to coincide.

In this case, circulation is to be understood to mean the circularly closed circulation, even if such a movement of the attachment end in the transverse direction to its circulation movement has not taken place, that is to say a circulation over a full 360 ° or more.

delivery-related / delivery-related item:

Depending on whether the attachment end is closer to the position of the product to be picked (delivery-near position) or closer to the position of the nest into which the product is to be deposited (delivery-near position).

Transfer Phase:

Movement of the gripping end of a picker, in particular the entire picker, from a delivery close to a delivery close position or vice versa, in particular from a product position to a nest position or vice versa.

Picker gripping range:

The area that the gripper end of a picker can reach around the attachment end of this picker.

Basic grip region:

the range that a picker mounted on a movable picker base can maximally cover at the maximum radial outward projecting end and movement of the movable picker base from the picker base. In the case of a picker base rotating about an axis and the attachment end of the picker fixedly mounted thereon, this area is a circle of flight.

Base rate:

For a picker mounted on a movable picker base, this is the speed at which the picker, which is not currently moving with respect to the picker base, whether it be the mounting end or the gripping end, merely moves due to the movement of the picker base.

Solution of the task

The above object is solved by the features of claims 1, 4 and 8. Advantageous embodiments will be apparent from the dependent claims.

With regard to the device, this object is achieved in a generic Umsetz device characterized in that the picker are not arranged stationary in the device, but are movably mounted with their respective attachment end.

In a first solution, the pickers are attached with their attachment end on a moving picker base.

In a second solution, only the attachment ends of the picker can move relative to the delivery area as well as the delivery area of the products in a fixed picker base, for example a guide.

In this direction of movement of the movable picker base or the attachment ends of the picker in the fixed picker base, the pickers are arranged one behind the other.

This makes it possible, during the conversion process, to use this movement of the attachment ends of the picker as a basic movement, which together with the relative movement of the gripping end to the attachment end of a picker particularly favorable movement and conversion speed results, as described later.

Since the working width of the transfer device, within which a picking and depositing of a product must be possible, at least largely covered by the extension of the picker base in the transverse direction, the picker gripping area can be kept much smaller than at, and thus the Pickers are made smaller and lighter compared to the case that each of the fixed mounted picker must be able to cover the entire working width between maximally distant pick-up point and storage point of a product.

Since the goal is to place the pickers not stationary, but movable in the transfer device, there are two possibilities:

A:

The pickers are fastened with the respective attachment end to a picker base, at least part of which moves within the device, and in particular is arranged to be movable relative to the delivery area and / or relative to the delivery area of the products.

Such a picker base could, for example, be a disk rotating in a horizontal plane, for example above the delivery area and / or the delivery area at which the pickers are distributed over their circumference, and preferably striving downwards from the disk.

However, the picker base could also be an endlessly circulating pulling element or pushing element, such as a rope or a chain, on which the pickers are attached one behind the other in the course direction.

B:

The other possibility is that the attachment ends of the picker can move itself and can, for example, move along a guide, for example, as a stationary picker base, and preferably each picker end has its own drive with which it moves along this guide can and thus the attachment ends of the picker can move independently.

Picker on a movable picker base:

In the case of a picker base, of which at least a part moves continuously relative to the delivery area or delivery area of the products, the attachment ends of the picker are attached to this picker base so that they become more than one complete by the movement of the picker base Circulation of 360 ° can perform, so can circulate almost endlessly.

If this picker base is arranged approximately in the area between the delivery area and the delivery area, the attachment ends of the picker attached thereto may thus be located closer to the delivery area (near-delivery) in one part of its circulation and farther away from the opposite part of the circulation (close to delivery) ), the same applies vice versa for the delivery area.

If the picker base is a disc - which may of course have breakthroughs - or is a ring, the pickers with their attachment ends can all be mounted at the same radius to the axis of rotation of the disc, or at different radii.

In this case, the gripping areas of the picker considered in the plan view - which may be circular, rectangular or otherwise designed depending on the design of the picker - may also overlap, but to simplify the control, the pickers are arranged so that their gripping areas do not overlap.

If the picker base is a disk, and the mounting ends of the picker are thus circulated on a circular path as the base direction about the axis of rotation of the disk, the mounting end of the picker is preferably fixedly secured to the picker base. However, it could also be stationary, but rotatable about an axis of rotation parallel to the axis of the disc to be arranged so that viewed in the top view of the picker regardless of its position during the circulation is always aligned in the same radical direction, so "looks". This can be useful if the tool always needs the same orientation, for example, the product direction in which the product moves, or the nest direction in which the nest moves.

The drive energy for operating the picker, in particular its end of movement and its gripping tool, can be supplied in the form of electrical energy via the hub, or can only be obtained on the turntable from the relative movement of the attachment end of the picker relative to the device due to Rotation of the turntable.

For example, the attachment end can be provided with a rotatable pinion which drives a generator and with a along the Base direction, so the orbit of the attachment ends, extending rack meshes.

Also, the attachment end of the picker need not be located at a fixed position on the turntable, but rather be movable in the radial direction along the disk over a limited distance, for example.

The same applies if the picker base is not a rotating disc, but a circumferential, in particular flexible, tension member which can exert a tensile force on a fastening end attached thereto, or a thrust element which can exert a thrust force in the circumferential direction on the fastener attached thereto , collectively referred to as a pull / push element, such as a cable, a toothed belt or other belt, or a chain.

Picker on non-movable picker base:

In this case, the picker base is merely a stationary element which serves to allow the pickers to move with their attachment ends along this picker base, preferably independently of each other and equipped with a respective independent drive. Such an immobile picker base is for example a guide, e.g. a guide rail along which the pickers can move with their attachment ends.

However, there are also two-dimensional or even three-dimensional immobile picker bases possible, so that the attachment ends can move two-dimensionally, for example along a surface, be it positively guided as a guide rail or non-positively guided by the mounting end of the picker a guide surface in all Driving directions. Three-dimensional immobile picker bases are also possible.

The design effort is higher in this case on the part of the picker, as they usually have to have a drive itself. However, solutions are also conceivable in which drive sources arranged along the guide, e.g. Drive pinion meshes with rack sections that extend along the guide in which the attachment ends move.

The advantage is that the shape of such a guide can be easily modified by conversion for other applications, and in particular that a movement of the attachment ends can be achieved independently.

Within a transfer device, more than one picker base is preferably arranged.

If the delivery area for the products is a product band, for example, one picker base can each be arranged on each side of the product band and work if a delivery area for the products, such as a container band, is located on either side of the product band.

However, several picker bases can also be arranged one behind the other in the direction of progression of the product band, and convert products in one and the same delivery area into the nests of a container band, depending on the quantity of products delivered per unit time that has to be converted.

In this case, the plurality of picker bases may be arranged such that the base gripping area of one picker base does not overlap with the base gripping area of the picker of the other picker base, but this does not result in an optimally compact embodiment of the transfer device.

In this case, therefore, a toothed arrangement of the picker bases is preferred such that the picker bases can be controlled in their movement such that the gripping areas of the pickers of one picker base are not in any state of movement with the gripping areas of the pickers of the other pickers. Base overlap, although the base gripping areas overlap each other

The individual pickers can have very different types of construction, for example so-called delta pickers or arm pickers, which consist of a plurality of arm parts arranged in succession.

With regard to the method for converting products from a delivery area to a delivery area by means of pickers, the object is achieved in that the pickers are movably moved with their attachment ends between the delivery area and the delivery area in the corresponding transfer device back and forth.

This movement of the fasteners from an in-delivery position to a close-to-home position and back is used as a base motion that is performed at a constant absolute velocity and / or angular velocity superimposed on the relative motion of the gripper end of each picker to its attachment end.

This allows both the necessary acceleration of the gripping end to Fastening and the maximum possible movement path of the gripping end relative to the attachment end, the picker gripping area to be kept small.

As a result, the masses to be accelerated are lower and thus - with the same conversion efficiency - the energy requirement for the conversion process is lower and due to the lower occurring accelerations, the mechanical loads that occur due to these accelerations in the transfer device, lower.

Preferably, the attachment ends of the picker move on an annular closed, in particular annular, orbit and preferably in an approximately horizontal plane.

As a rule, the products are not stationary in the delivery area, but are also moved during the transfer in the delivery area, for example, when they are brought into the delivery area on a mostly continuous product line.

Likewise, the nests in which the products are to be stored in the delivery area are usually not at rest, but are also moved during the conversion process, for example, in that the nests are nests in a tray on a container band the delivery area be fed and go through this. Preferably, the attachment ends of the picker, which are arranged on the same picker base, moved synchronously with each other, in certain applications, however, it may be useful to independently move the attachment ends along its circulation path, but this increases the construction cost.

Preferably, especially during synchronous movement, the attachment ends of the picker are also moved during the transfer of products - in particular during their entire circulation along the picker base - with a constant absolute or angular velocity, which keeps the energy required for moving the attachment ends low.

The process according to the invention is preferably suitable for the countercurrent of products and nests.

For in such a mating direction, the direction of rotation of the attachment ends of the picker, which is arranged in the area between delivery area and delivery area, ie product band and container band, be chosen so that it is directed on the side of the product band in approximately parallel to the product direction and on the side of the container band approximately parallel to the nest direction. As a result, the movement distances and accelerations that have to cope with the gripper ends of the individual picker relative to their attachment end, particularly low.

When gripping the product, the gripper end of the picker, that is, the gripping tool attached to the gripper end, must move synchronously with the product, so that there is no relative speed between the two, and also when placing the product.

In practice, a very limited relative speed could still be accepted when picking up the product, however, then the exact position of the product on the holding gripping tool can often no longer be accurately determined, which degrades the position accuracy of the nest in the nest, for some applications but still acceptable.

In order to achieve this goal, when gripping the product, the product, which generally moves in a linear product direction and moves at a certain product speed, should be grasped by the gripper end, that is to say in particular the gripping tool, of the picker. which moves in the same direction, that is, the product direction, and has no transverse movement thereto during grasping, and also moves at the same product speed.

1. a) Da die Produkt-Geschwindigkeit in der Regel nicht mit der Nest-Geschwindigkeit übereinstimmt, kann in diesem Fall die Umlaufgeschwindigkeit der Befestigungsenden auf eine Geschwindigkeit zwischen der Produkt-Geschwindigkeit und der Nest-Geschwindigkeit festgelegt werden.
2. b) Die Umlaufgeschwindigkeit kann auch so festgelegt werden, dass die sich dadurch für das Greifende der Picker beim Umsetzen ergebenden maximalen Beschleunigungswerte immer unter der maximal zulässigen Beschleunigung für das spezifische, umzusetzende Produkt liegen, welche ja je nach Produkt sehr unterschiedlich sein kann.

The absolute rotational speed of the attachment ends can be determined according to different criteria:

1. a) Since the product speed usually does not match the nest speed, in this case the speed of rotation of the attachment ends can be set to a speed between the product speed and the nest speed.
2. b) The orbital speed can also be set so that the maximum acceleration values resulting for the gripper end of the picker during transposition are always below the maximum permissible acceleration for the specific product to be reacted, which can vary considerably depending on the product.

These two criteria can also be considered simultaneously, whereby criterion b) always takes precedence and criterion a) in particular can only be the secondary control criterion.

1. a) Diese Winkelgeschwindigkeit kann so gewählt werden, dass mit den entsprechenden Pickern der Picker-Basis zuverlässig die Anzahl der pro Zeiteinheit angelieferten Produkte umgesetzt werden kann, also das Produktband vollständig im Umsetzbereich geleert werden kann.
2. b) Insbesondere ist dies dadurch möglich, indem diese Winkelgeschwindigkeit so gewählt wird, dass die Anzahl der Umläufe eines Befestigungsendes pro Zeiteinheit multipliziert mit der Anzahl der auf der Umlaufbahn der Picker-Basis vorhandenen Picker und multipliziert wiederum mit der Anzahl der vorhandenen Picker-Basen mindestens der Anzahl der pro Zeiteinheit angelieferten Produkte entspricht, vorzugsweise um einen Faktor von mindestens 1,1, besser mindestens 1,2, höher ist.
3. c) Falls die Anzahl der pro Zeiteinheit angelieferten Produkte mit einer Picker-Basis ohnehin nicht vollständig geleert werden kann, kann die Winkelgeschwindigkeit der ersten Picker-Basis so hoch wie möglich gewählt werden, abhängig von den bedingt durch das Produkt und die Eigenschaften der Picker und die Umlaufgeschwindigkeit der Picker-Basis, dass die Anzahl der zusätzlichen Picker-Basen so gering wie möglich gehalten wird.
4. d) Die Umlaufgeschwindigkeit kann ferner nur maximal so hoch gewählt werden, dass das Greifende eines Pickers im Umlaufabschnitt zwischen dem Ablegen eines Produktes und dem Ergreifen eines nächsten Produktes sein Greifende von der in Basis-Richtung vordersten zu der in Basis-Richtung hintersten Position seines Greifbereiches oder umgekehrt verlagern kann, was die optimale Ausgangsposition für den nächsten Greifvorgang ist.

The speed of rotation of the picker base in the form of the angular velocity - not at constant rotational speed of the average angular velocity - the attachment ends, in particular on a circular orbit, can also be selected according to different criteria.

1. a) This angular velocity can be chosen so that with the corresponding picker of the picker base reliably the number of products delivered per unit time can be implemented, so the product band can be completely emptied in the transfer area.
2. b) In particular, this is possible by choosing this angular velocity so that the number of revolutions of an attachment end per unit of time multiplied by the number of pickers present in the orbit of the picker base multiplies again at least with the number of available picker bases corresponds to the number of products delivered per unit time, preferably by a factor of at least 1.1, better at least 1.2, higher.
3. c) If the number of products delivered per time unit with a picker base can not be completely emptied anyway, the angular velocity of the first picker base can be chosen as high as possible, depending on the product and the characteristics of the picker and the recirculation speed of the picker base keeps the number of additional picker bases as low as possible.
4. d) Furthermore, the rotational speed can only be selected to be so high that the gripping end of a picker in the circulation section between the depositing of a product and the gripping of a next product gripping end of the in the base direction foremost to the rearmost in the base direction position of his gripping area or vice versa, which is the optimal starting position for the next gripping operation.

The conditions mentioned can also be taken into account simultaneously, in which case criterion d) is preferably the primary criterion, followed by criteria a) and b) and c), preferably in this order.

The products are usually presented in the delivery area not stagnant for the conversion process, but moved by typically lying on a product belt, which is moved through the transfer area.

The same applies to the nests in the delivery area, which are usually located on a through the Umsetzbereich usually running container belt, usually in the interior of trays that lie on the container belt and are transported by this.

On the other hand, the products on the one hand and the nests on the other usually mostly move in a linear direction.

The present invention is particularly well suited for applications in which the product direction is directed approximately opposite to the nest direction, the so-called mating. Nevertheless, an application of the invention is also possible with synchronization of product direction and nest direction.

These two starting situations must be considered separately with regard to the movements and accelerations resulting therefrom for the picker base and the pickers:

• - beim Ergreifen und Aufnehmen eines Produktes möglichst synchron mit diesem mitbewegen und
• - beim Ablegen eines Produktes möglichst synchron mit dem Nest, in das das Produkt abgelegt werden soll, mitbewegen, da hierbei keine oder nur eine sehr geringe Differenz-Geschwindigkeit der Geschwindigkeit des Greifendes gegenüber der Produkt-Geschwindigkeit beim Ergreifen und der Nest-Geschwindigkeit beim Ablegen akzeptabel sind.

Generally, the gripping end of each picker has to

• - When gripping and recording a product as synchronously as possible with this move and
• - When placing a product as synchronous as possible with the nest in which the product is to be stored, move with it, as there is no or only a very small differential speed of the speed of the gripping end against the product speed when gripping and nesting speed when storing are acceptable.

For example, when grasping the product and the attachment end move approximately in the same direction, but not at the same speed and / or not exactly in the same direction, so must be compensated by the relative movement of the attachment end to the gripping end only this difference become.

If, on the other hand, when gripping a product, the product and the attachment end of the picker move in approximately opposite directions, the relative movement of the gripping end to the attachment end of the picker does not require the difference but the sum of the product speed and the base speed of the attachment end be compensated.

In the former case, it must be distinguished whether the base speed is greater than the product speed or vice versa:

If the base speed is greater, the grasping end of the picker within its gripping area must move forward while grasping move backwards against the direction of movement of the product, the product direction.

Conversely, if the base speed is lower, the gripper end, while gripping the product, must move inversely in the gripper area of the picker from a rear to a front position, usually from the rear to the front half.

The same is true when dropping in nest position and nest speed.

• - vor dem Ergreifen muss das Greifende eine hierfür günstige Startposition, also in der vorderen oder hinteren Hälfte, vorzugsweise am vorderen oder hinteren Ende, seines Greifbereiches einnehmen, je nach der oberen beschriebenen Fallunterscheidung,
• - ebenso benötigt das das Produkt tragende Greifende vor dem Ablegen des Produktes in ein Nest eine hierfür passende Ausgangsposition, also in der vorderen oder hinteren Hälfte, je nach obiger Fallunterscheidung, in seinem Greifbereich.

This results in a sequence of movements, which can be broken down as follows:

• - Before gripping the gripping end must take a favorable starting position, ie in the front or rear half, preferably at the front or rear end of his gripping area, depending on the above-described case distinction,
• - Also requires the product carrying gripping before placing the product in a nest a suitable starting position, ie in the front or rear half, depending on the above case distinction, in his gripping area.

If the required starting position within the gripping area for depositing a product is the same, ie in the circumferential direction of the picker base front or rear in the gripping area, as at the end of picking up the product, the gripper end can be therebetween, ie during the movement of a delivery close to a delivery-close position, the transfer phase, remain in the same half of the gripping area, in particular in the same position within the gripping area, otherwise must change in this time, the gripping end in the other half of the gripping area.

Exactly the same applies to the transfer phase after the product has been deposited and before a new product has been caught moving between a delivery-related position and a delivery-related position.

This results in a reverse of the product direction and nest direction relatively low relative speeds and accelerations of the gripping end to the attachment end of each picker.

In the case of synchronism of the product direction and nest direction, on the other hand, depending on how the direction of rotation of the attachment ends of the picker is selected, a high speed and acceleration of the gripping end to the attachment end of the respective picker is necessary either when grasping or when depositing the product.

If the attachment ends of the picker are mounted on a movable picker base, at least that part of the picker base which drives the attachment ends is driven and moved.

If the picker base is a disc which preferably rotates in a horizontal plane about a vertical axis, this disc is rotationally driven, preferably at a constant speed.

The energy required for the operation of the picker can be generated on the disk itself, by converting the kinetic energy of the relative movement of the mounting ends either to the device in which the picker base is mounted, ie the frame of the transfer device, or to the axis of rotation of the disc, this is converted into electrical energy to operate the picker. As a result, a power supply to the individual pickers by the rotational support of the rotating disk is not necessary.

The attachment ends of the picker can be provided either at a fixed position of the disc, in particular on a single circular path concentric about the axis of rotation, or be provided distributed to different concentric circular paths.

However, the attachment ends can also be movably attached to the disc, so the picker base, for example, transverse to the direction of rotation, ie in the radial direction of the disc.

The attachment ends may be rotatably attached to the picker base or rotatable, and in particular the rotation of the attachment ends are controlled at its attachment point relative to the picker base so that a constant rotational position - viewed in the top view - of the picker despite rotation of the picker -Base is maintained, so the picker always "looks" in the same direction.

If the pickers are mounted with their attachment ends not on a moving, but on a stationary picker base, but individually along an orbit, for example along a guide which is stationary in the frame of the transfer device is moved, the individual Fastening and thus the individual pickers are moved independently, especially when each picker is driven by its own motor for moving along the orbit.

If multiple picker bases are present on a conversion device, these can With respect to the delivery area, in particular the product band, are arranged either on opposite sides and thereby each effect a conversion of the example product band on a present on the respective side of the respective picker base container band, if on both sides of the product band in each case a container band is present ,

However, several picker bases can also be arranged one behind the other in the running direction of a product band, if the number of products delivered per unit time can not be implemented with a picker base.

There are several possibilities with regard to the assignment considered in supervision:

Several picker bases can be arranged relative to one another in such a way that their base gripping areas, that is to say the circle of a gripper end of a picker protruding maximally radially outwards, do not reach each other but maintain a distance from one another.

Another possibility, which allows a more compact construction of the transfer device, is that the base gripping areas overlap, but the rotation of these adjacent picker bases is controlled such that in no rotational position the picker gripping areas of the two-sided pickers overlap, so to speak relative to the gripping areas of the mutual picker, the two picker bases a coordinated, in particular interlocked, make rotation.

In order to avoid collisions of pickers, both within a picker base and as just described between the picker gripping areas of two adjacent picker bases these can be kept at a distance.

However, it is also possible to overlap the picker gripping areas of adjacent pickers, in which case a collision prevention of the two pickers whose picker gripping areas partially overlap must be carried out by a more complex control.

Whether the product speed of a product belt or the nest speed of a container belt is greater depends primarily on the design and arrangement of the containers and compaction of the nests in this delivery area. There is no general preferred situation here.

However, the basic speed at which the attachment ends of the picker move when grasping a product in the product direction, for example, is usually not only larger, but often several times the product speed, as will be apparent from the following example:

If the products were transported in one lane in a row, for example immediately adjacent to one another and at a low speed as a continuous line into the transfer area, the gripper end of the picker would have to be at the same speed as the product and at the point at which the product is to be gripped preferably also have the attachment end of the picker about this speed.

However, if the products are delivered distributed over a relatively wide range of products, three, four or more products may be present next to each other at one and the same longitudinal position of the product band, depending on the product density on the product band.

This then requires that the basic speed with which the attachment ends attached to the picker base move in the delivery area must then be analogous to a multiple of the product speed corresponding to that in order to implement the products delivered per unit time.

Preferably, position sensors are present at the individual pickers, so that at any time the position of each picker on the circulation path is exactly detectable, as well as preferably with a rotatable disc as a picker base a rotation angle sensor on the disc is present at any time their rotational position and thus the position to be able to detect all the pickers attached to it.

embodiments

• 1a: eine erste Bauform einer Umsetz-Vorrichtung in der Aufsicht von oben,
• 1b, c: unterschiedliche Ausführungsformen dieser ersten Bauform der Umsetz-Vorrichtung, betrachtet in Durchlaufrichtung der Produkte,
• 2: eine Prinzipdarstellung der ersten Bauform gemäß der 1a ebenfalls in der Aufsicht,
• 3a: eine Detailvergrößerung in einer bestimmten Funktionsstellung der Umsetz-Vorrichtung gemäß 1a,
• 3b: die Funktionsstellung der Figur drei Auer betrachtet in der Seitenansicht zur Durchlaufrichtung der Produkte,
• 4a, b: Aufsichten auf abgewandelte Anwendungen der ersten Bauform der Umsetz-Vorrichtung gemäß 1a,
• 5a, b: eine zweite und dritte Bauform der Umsetz-Vorrichtung in der Aufsicht von oben.
• 5c: eine abgewandelte Anwendung der zweiten Bauform der Umsatz-Vorrichtung gemäß 5a.

Embodiments according to the invention are described in more detail below by way of example. Show it:

• 1a FIG. 1: a first embodiment of a transfer device in the top view, FIG.
• 1b, c : different embodiments of this first design of the transfer device, viewed in the direction of passage of the products,
• 2 : A schematic diagram of the first design according to the 1a also in the supervision,
• 3a a detail enlargement in a certain functional position of the transfer device according to 1a .
• 3b : the functional position of the figure three Auer considered in the side view to the passage direction of the products,
• 4a, b : Topics on modified applications of the first design of the transfer device according to 1a .
• 5a, b a second and third construction of the transfer device in the top view.
• 5c a modified application of the second design of the sales device according to 5a ,

In the figures is - except for an additional option in 4b - Based on a parallel run, and in particular mating, a product band 8th to a next to one side or on both sides in the opposite direction extending container band 9 on which are the trays 4 where nests are located 3 - Physically formed or only as intended storage positions - are present, in which the irregular on the product tape 8th transport products 99 individually or even stacked for example by the pickers 1.1 to 1.4 should be stored.

The transfer process causing picker 1.1 to 1.4 are not stationary on the frame 19 attached to the transfer device but on a picker base 2 that are at least part of the picker base 2 opposite the frame 19 moved during the conversion process. Likewise, the product range is also moving 8th during the Umsetzvorganges continuously and usually at a constant speed, and preferably also the container band 9 during the conversion process, even when inserting a product 99 in a nest 3 ,

The 1a to 3 show a first design, where as a movable picker base 2 a rotatable disc 2a is used.

The rotatable disc 2a Of course, no closed disc must be, but it suffices any form of support frame, also a frame-like support frame on which the individual picker 1.1 to 1.4 can be fixed, provided that this rotatable about the base axis 2 ' is drivable.

As well as the product band 8th and the container band 9 usually horizontal, is also the rotatable disc 2a arranged horizontally and rotatable about an upright, in particular vertical, base axis 2 ' on the frame 19 attached to the transfer device.

You can see it in 1b also the engine 7 which is the rotatable disc 2a drives, and moreover one on top of the disc 2a installed generator 17 that with the disc 2a rotates, and by its relative movement relative to stationary parts of the transfer device, such as the frame 19 , Generates electricity, which can be used for the operation of the individual picker.

For example, the generator 17 driven by a pinion, which via a toothing with a stationary mounted on the frame, concentric with the base axis 2 ' arranged rack meshes. This allows for a current feed through the journal of the rotatable disc 2a be waived.

The disc 2a is at such a height above and above the product band 8th and container band 9 arranged that from the disc 2a protruding downwards and preferably at the bottom of the disc 2a attached picker 1.1 to 1.4 the on the product tape 8th lying products 99 take and in the nests 3 of the tray 4 can drop.

Like for example 1a shows, the direction of rotation is - usually uniformly fast rotating - rotatable disc 2a chosen so that on the container tape 9 distant side the direction of movement of the circumference of the disc 2a in the direction of the product direction 10a runs, in which the product band 8th and therefore all products lying on it 99 move, and vice versa on the product ribbon 8th opposite side of the disc 2a their outer edge in nest direction 10b moves, in which the container band 9 runs and thus the nests arranged thereon 3 ,

The nests 3 By the way, not in a tray 4 be formed, but can also directly on the container band 9 or another form of conveyor be formed.

The nests 3 Nor do they have to be physically, in particular form-fitting, for the products 99 be formed, but can as pure position information only virtually in the delivery area, just as the container band 9 be trained.

Like the cut-outs of the 1a, b show, thus the transfer in the transverse direction 11 to the direction of passage of the conveyor belt 8th to the container band 9 ie the position of the delivered product 99 to the nest 3 in which it is to be stored, primarily from the spinning disk 2a completed.

So the gripping end 1.1a eg a picker 1.1 despite constant speed of the disc 2a and / or despite constant movement of the product band 8th in product direction 10a and / or despite substantially constant speed of the container belt 9 in nest direction 10b , the desired product 99 on the product tape 8th reach and when recording with this can move - and also when placing in the corresponding nest 3 - must be the picker 1.1 from his attachment end 1.1b at the base 2 , especially the disc 2a , from a much smaller picker gripping area 5 own, as with fixed positioning in the frame 19 the transfer device.

In general, the pickers 1.1 to 1.4 near the outer periphery of the disc 2a attached so that the picker gripping area 5 over the circumference of the disc 2a extends, and thus all the picker gripping areas 5 Enveloping circle the base gripping area 6 represents. This basic gripping area 6 must be so big and the rotatable disc 2a at such a position in the transverse direction 11 be arranged that the entire width of one outermost edge to the other extreme edge of all juxtaposed product bands 8th and container bands 9 is equal to or smaller than the diameter of the base gripping area 6 ,

The outline of the 2 It can also be seen that this applies regardless of how large the distance in the transverse direction 11 between container band 9 and product band 8th is, or how wide the two bands 8th . 9 in detail.

The base gripping area 6 thus protrudes in the transverse direction over all side by side running and belonging to Umsetz device product bands 8th and container bands 9 in the transverse direction.

Depending on the design P1 - P4 the used picker 1.1 to 1.4 of which in the 1a to c four different are shown, these have picker designs P1 - P4 viewed in the top view a mostly round, but possibly also differently shaped, picker gripping area 5 :

In the 1a to c are only because of different designs P1 - P4 of pickers on the same picker base 2 , the rotatable disc 2a , arranged to give examples of different picker designs P1 - P4 represent, because usually be on a picker base, for example, a rotatable disc 2a , only the same or at least in terms of functioning similar picker designs P1 - P4 be used:

Picker 1.1 = picker type P1:

The picker 1.1 consists of two articulated about one, preferably only one, horizontal axis interconnected picker arms, ie upper arm and forearm, the rear free end of the upper arm articulated both about a horizontal axis and about a vertical, parallel to the BasisAchse 2 ' extending axis relative to the disc 2a is pivotally mounted so that the upper and lower arm each move in a vertical standing arm plane.

At the free end of the forearm is a gripping tool 13 , usually a nipple, attached for gripping and holding the product 99 ,

Picker 1.3 = picker type P3:

In contrast to the picker design P1 are at the picker 1.3 Upper arm and forearm to each other and to the disc 2a only vertical, parallel to the picker axis 2 ' pivoting axes extending one another, so that both the upper arm and the lower arm can each move in a horizontal plane of space.

Therefore, at the free end of the forearm, a vertically downwardly facing telescopic arm is present at the lower end, a gripping tool 13 , in particular a sucker, is located.

Picker 1.2 = picker type P2:

The picker 1.2 consists of a horizontally extending guide rail along which a telescopic arm extending vertically downwards, the gripper tool at its lower free end 13 , in particular a sucker, carries, is controlled movable.

The opposite mounting end of the guide rail is at the picker base 2 , in particular the rotatable disc 2a , either pivotable about a parallel to the base axis 2 ' extending pivot axis and / or movably mounted in the tangential direction.

The in 1a drawn rectangular picker gripping area 5 refers to the exclusively tangential movability of the rear end of the guide rail on the rotatable disc 2a , With a pivotability about an upright, to the base axis 2 ' parallel axis would also have this picker 1.2 a circular in the top picker gripping area.

Picker 1.4 = picker type P4:

These are the pickers known as delta pickers, in which the gripper tool 13 , usually also a sucker, striving upward three support arms like the edges of an upside-down, three-sided pyramid, and the other ends of these three, each telescopic, support arms on a base, here the picker base 2 in the form of the rotatable disc 2a , are attached.

By appropriate separate, coordinated control of the telescopic states of the three support arms, the gripping tool 13 to any position in the picker gripping area 5 to be brought.

The picker eg 1.1 are with their attachment end 1.1b despite possible pivoting around the upright picker axis 1.1 ' opposite the rotatable disc 2a attached to this preferably so that they without active pivoting about this picker axis 1.1 ' through the controller 20 can not be pivoted, so when rotating the rotatable disc 2a from their base axis 2 ' always in the same radial direction during the rotation of the disc 2a abstreben.

Another possibility is that without active control of the picker, for example, 1.1 whose picker arm in the plan view always in the same direction, for example, in the transverse direction in 1a to the left, protruding, even during rotation of the rotatable disc 2a ,

On the basis of the principle view of the 3 It becomes clear which movements and velocities of the individual elements for picking up a product 99 from the product band 8th necessary are:

Such as 1a shows are usually on the product tape 8th due to its width at identical or almost identical longitudinal position usually several products 99 across the width of the product band 8th distributed delivered.

So a loaded product band 8th - at least if only one rotatable disc 2a is present - can be processed, this almost imperatively requires such a rotation of the rotatable disc that its peripheral speed v2a is significantly larger, usually many times larger than the product speed V10A with which the product tape band 8th moved forward.

If in the period of time in which the rotatable disc 2a around the angle δ continues to turn, the product to be taken 99 in product direction 10a around the track Δ10a moves further, so puts in the same time the gripping tool 13 , the sucker, in product direction 10a looks approximately at the marked route Δ13 back, which, as stated above, is significantly greater than the distance Δ10a ,

When in this state of the picker 1.1 the gripping tool 13 outside the circumference of the disc 2a is located, this track is Δ13 bigger than the track Δ2a that the scope of the disc 2a travels during this time.

Is the gripper tool 13 however, within the scope of the disc 2a This is reversed.

In the period during the seizure of the product so must the grasping 1.1a the picker 1.1 opposite the attachment end 1.1b against the direction of rotation of the disc 2a , in this case counter-clockwise, be turned back to the difference Δ13 - Δ10a balance and the gripping tool 13 over the current, to be taken product 99 to keep.

Only when the distance covered in this period Δ13 smaller than the track Δ10a - which is the case when the gripper 13 in the radial direction only slightly outside the base axis 2 ' is - can a compensation movement in the reverse direction than the direction described, including in the product direction 10a , become necessary.

Of course, the same applies analogously to the delivery side for the relative movement between the product 99 carrying gripping tool 13 and the nest 3 in which this product 99 should be stored.

4a shows a solution, in turn, a product tape 8th and a container band 9 that are parallel to each other in opposite directions, product direction 10a and nest direction 10b , move, are present, but the amount of products delivered per unit of time 99 so big is they with a single picker base 2 , in turn, the rotatable disc 2a according to the 1a to 3 is, and in this case four fortified pickers 1.1 to 1.4 can not be mastered.

In this case - similar to a conventional robot road - in the direction of passage 10 two picker bases 2 in the form of a rotatable disc 2a arranged to the product band 8th to empty and all incoming products 99 in the trays 4 on the container band 9 implement.

As with 1a are the pickers 1.1 to 1.4 in terms of their picker gripping area 5 and its attachment point to the rotatable discs 2a chosen so that the picker gripping areas 5 do not overlap, so a complex control for collision prevention between the individual pickers 1.1 to 1.4 a slice 2a is not needed.

If greater compaction from the base is desired, the picker gripping areas can 5 However, also overlap each other, but then the cost of a collision-prevention control in terms of Interplay of the picker 1.1 to 1.4 be accepted.

However, in 4a the two shown here only two rotatable discs 2a with their base gripping area 6 in the direction of passage 10 positioned so close together that the base gripping areas 6 in the direction of passage 10 overlap.

Nevertheless, an overlap of the picker gripping areas 5 During the conversion operation, avoid the two rotatable discs 2a which preferably have the same diameter and / or the same fastening radius on which the attachment ends 1.1b to 1.4b the picker 1.1 to 1.4 are attached, arranged as follows:

If the two rotatable discs 2a , Are driven at the same rotational speed, but in such a mutual rotational position to each other, that always the picker gripping area 5 a picker 1.1 , for example, the in 5a lower disc 2a , in the gap between the two opposite, off the connecting line between the two picker bases 2 lying pickers of the adjacent upper disc 2a dips without these three adjacent picker gripping areas 5 overlap, so results in spite of very compact design, a solution that requires no collision-prevention control between the individual pickers.

The same applies to the picker of the two picker bases 2 , in particular the two rotatable discs 2a as they are in 4b in the transverse direction 11 to the passage direction 10 spaced from each other, because in this case on both sides of the product in the direction 10a moving product tape 8th in each case one in the opposite direction parallel extending container band 9 is arranged, of which one of the pickers of the left disc 2a the right container band 9 from the pickers of the right-hand rotating disc 2a is filled.

• - entweder an einem beweglichen Zug-/Schubelement 2b, wie etwa einer Kette, als beweglicher Picker-Basis 2, wie in 5a oben dargestellt,
• - oder indem die Picker 1.1 bis 1.4 mit ihrem Befestigungsende 1.1b bis 1.4b jeweils entlang einer als unbewegliche Picker-Basis 2 dienenden Führung 2c verschiebbar und insbesondere unabhängig voneinander angetrieben sind, wie in 5a unten dargestellt.

The 5a, b , c show a second solution of the transfer device, in which the picker 1.1 to 1.4 with their attaching ends 1.1b to 1.4b not on a rotatable disc 2a as a picker base 2 are attached, but

• - either on a moving pull / push element 2 B , such as a chain, as a movable picker base 2 , as in 5a shown above
• - or by the picker 1.1 to 1.4 with her attachment end 1.1b to 1.4b each along an immovable picker base 2 serving leadership 2c slidably and in particular driven independently of each other, as in 5a shown below.

It can also be this leadership 2c as well as the pull / push element 2 B viewed in the plan view have any shape in terms of its circulation, provided that the base gripping area 6 also in this case over the entire width of all existing product bands 8th and container bands 9 in the transverse direction 11 is enough.

The advantage in both fixed over the pull / push element 2 B chained pickers 1.1 to 1.4 as well as with the individual, independently in the leadership 2c running pickers 1.1 to 1.4 consists in the fact that the shape of the circulation can be chosen freely:

As in 5a As shown, the circulation can take place over a long section parallel to the product direction 10a be guided, as well as another long section parallel to the nest direction 10b , The illustrated rectangular shape of the circulation is by no means mandatory. Also triangular shapes, ellipses and other forms of a circulation contour are possible.

So shows 5b a solution in which the contour of the circulation in the plan view is approximately rectangular, but in parallel guided product direction 10a and nest direction 10b the longest sections of the circumferential contour run transversely to these directions, which is particularly useful when a relatively large distance between the product band 8th and the container band 9 present, which can not be reduced.

5c shows the possibility of the crossing of the product band and container band, the contour of the circulation in the view considered to lay so that in each case a long section parallel with on the one hand the product direction 10a and, on the other hand, the Nest direction 10b runs, and thus the circulation contour is approximately triangular.

In the upper half of the 5a is a chain 2 B represented, which is at least tensile in the direction of rotation and therefore in the presence of corresponding Umlenkritzeln 14 as at the upper left corner of the circulation of the chain 2 B In addition, no further guidance for the chain 2 B is required.

The chain 2 B But then must be kept curious at any point of the circulation by means of a - not shown - chain tensioner.

Runs the chain, however, in a laterally limited guide 2c as in the area top right of the round of the 5a represented, it can be dispensed with.

Preferably, at the individual pickers 1.1 to 1.4 Position sensors exist so that at any time the position of each picker 1.1 to 1.4 is accurately detectable on the circulation path, as well as preferably in a rotatable disc 2a as a picker base 2 a rotation angle sensor on the disc 2a is present at any time to their rotational position and thus the position of all attached picker 1.1 to 1.4 to be able to detect.

In the lower half of the round for the picker according to 5a are single, in a leadership 2c running and separately and independently driven picker 1.1 to 1.4 shown, which preferably each have a drive in the picker to the picker along the guide 2c controlled to move.

Alternatively, the drive of course in the leadership 2c be arranged, for example in the form of racks / pinion pairs. In this case, either the driving pinion can be arranged in the picker, as in 5a shown at the bottom, or it can be along the guide 2c regularly spaced such drive pinion to be present, but the distance then in the direction of rotation must be less than the length of a piece of a rack, which is then running in the picker in the direction of rotation, so that such a picker always with one of the leadership 2c arranged drive pinion meshingly in contact.

In this solution, the leadership of the driven picker to bends around but technically complex.

LIST OF REFERENCE NUMBERS

1.1 - 1.4

Picker

1.1 '- 1.4'

Picker axis

1.1a

cross

1.1b

attachment end

Δ1.1b

route

2

Picker base

Δ2a

route

2 '

base axis

2a

disc

2 B

Pull / push element, chain

2c

guide

3

nest

4

tray

5

Picker grip region

6

Basic grip region

7

engine

8th

Delivery area, product line

9

Delivery area, container strap

10

horizontal passage direction

10a

horizontal product direction

Δ10a

route

V10A

absolute product speed

10b

horizontal nest direction

V10b

absolute nest speed

10c

Direction of movement of the picker base, base direction

11

horizontal transverse direction

12

vertical direction, vertical

13

Gripping tool, sucker

Δ13

route

14

return sprocket

17

generator

18

transposition area

19

frame

20

control

99

product

δ

angle

P1 - P4

Picker designs

Claims (26)

Conversion device for converting products (99) from a delivery area (8), in particular a product strip (8), to predetermined positions, in particular the nests (3) of trays (4), in a delivery area (9) by means of - a plurality of pickers (1.1-1.4), each having a fastening end (1.1b to 1.4b) and a movable gripping end (1.1a to 1.4a), wherein - a plurality of pickers (1.1-1.4) with their respective attachment end (1.1b-1.4b ) are mounted on a common picker base (2), at least a portion of the picker base (2) being movable in a base direction (10c) relative to both Delivery area (8) and to the delivery area (9) is arranged and - the picker (1.1-1.4) in the direction of movement or the direction of the picker base (2), the base direction (10c) are arranged one behind the other, characterized in that the picker base (2) is a disc (2a) or a ring which is rotatable about a central perpendicular base axis (2 ') to the plane of the disc (2a) or the ring. Umsetz device after Claim 1 , characterized in that - the attachment ends (1.1b-1.4b) are attached to the picker base (2) such that they complete one or more revolutions by the movement of the picker base (2), and - in particular the rotatable one Picker base (2) and the picker (1.1-1.4) in the circumferential direction of the picker base (2) successively, in particular at the same radial distance from the base axis (2 '), around which the picker base (2) rotates on the picker base (2) are arranged. Conversion device according to one of the preceding claims, characterized in that the picker base (2) by a motor (7) is rotationally driven and the pickers (1.1-1.4) gain the energy necessary for their operation by converting their kinetic energy due to their Movement relative to the base axis (2 ') or to the frame (19) of the transfer device. Conversion device for converting products (99) from a delivery area (8), in particular a product strip (8), to predetermined positions, in particular the nests (3) of trays (4), in a delivery area (9) by means of - a plurality of pickers (1.1-1.4), each having a fastening end (1.1b to 1.4b) and a movable gripping end (1.1a to 1.4a), wherein - a plurality of pickers (1.1-1.4) with their respective attachment end (1.1b-1.4b ) are movably guided in a common picker base (2), - the attachment ends (1.1b-1.4b) of the picker (1.1-1.4) movable in a base direction (10c) relative both to the delivery area (8) and to the Delivery area (9) are arranged and - the picker (1.1-1.4) in the direction of movement, the base direction (10c), are arranged one behind the other, characterized in that the picker base (2) a non-movable, annular circumferential guide ( 2c), along which the attachment ends (1.1b-1.4b) of the picker (1.1-1.4) are guided and can be moved. Umsetz device after Claim 4 , characterized in that - the pickers (1.1-1.4) are moved independently along the guide (2c) and / or - each picker (1.1-1.4) has its own motor (7) for its drive to move along the guide (2c ) owns. Transfer device according to one of Claims 4 or 5 , characterized in that - the transfer device has a plurality of picker bases (2), with respect to the delivery area (8), in particular the product strip (8), either opposite or on the same side in the product direction (10a) arranged one behind the other are and - in particular the picker bases (2) are arranged to each other so that the base gripping areas (6) overlap considered in the plan view. Transfer device according to one of Claims 4 to 6 , characterized in that the picker gripping areas (5) of the picker, which are arranged on the same picker base (2), viewed in the top view, do not overlap. Method for converting products (99) from a product position in a delivery area (8), in particular a product strip (8), to a predetermined nest position, in particular the nest (3) in a tray (4), in a delivery area (9) by means of a plurality of movable picker (1.1-1.4), wherein the individual pickers (1.1-1.4) with their attachment ends (1.1b to 1.4b) between the delivery area (8) and the delivery area (9) are moved back and forth an annularly circulating path over at least one full revolution, characterized in that the absolute speed or the angular velocity of the attachment ends (1.1b to 1.4b) is constant from a position close to the delivery to a delivery-close position and back. Method according to one of the preceding method claims, characterized in that the attachment ends (1.1b to 1.4b) are moved over an annular path over at least one full revolution. Method according to one of the preceding method claims, characterized in that the attachment ends (1.1b to 1.4b) are moved circumferentially in an approximately horizontal plane. Method according to one of the preceding method claims, characterized in that the fastening ends (1.1b to 1.4b) fastened on the same picker base (2) are moved synchronously with one another. Method according to one of the preceding method claims, characterized in that the on the same picker base (2) fastened attachment ends (1.1b to 1.4b) at least temporarily, in particular always be moved at a constant speed during the reaction of products. Method according to one of the preceding method claims, characterized in that - at least when gripping a product in the direction (10a) with a product speed (v10a) moving product (100) the gripping gripping end (1.1a to 1.4a) the same gripper speed (v1.1b) has as the product speed (v10a) and in particular also in the same direction, the product direction (10a) moves and - at least when grasping a product (100) the gripping gripping end ( 1.1a to 1.4a) stops in the transverse direction (11) to the product direction (10a). Method according to one of the preceding method claims, characterized in that - at least when depositing a nest (3) moving in the nest direction (10b) with a nesting speed (v10b), the releasing gripping end (1.1a to 1.4a) same gripper speed (v1.1b) has like the nest speed (v10b) and in particular also in the same direction, the nest direction (10b), moves and - at least when placing a product (100) the donating gripping end ( 1.1a to 1.4a) stops in the transverse direction (11) to the nest direction (10b). Method according to one of the preceding method claims, characterized in that the absolute rotational speed of the attachment ends is chosen to be a) between the product speed (v10a) and the nesting speed (v10b) or b) which are suitable for the To be converted products (99) resulting acceleration of the product (99) on the transfer path is always below the maximum allowable acceleration for this product. Method according to one of the preceding method claims, characterized in that the rotational speed in the form of the average angular velocity of the attachment ends on a particular circular orbit is selected such that a) it reliably seals the product band (8) with the at least one existing picker base (8). 2) and the pickers thereon can be emptied or b) the number of rounds of a fixing end per unit time multiplied by the number of existing on the orbit for the attachment ends picker multiplied by the number of existing picker bases (2) at least the number of c) it is selected as high as possible, if with a picker base (2) the product band (8) can not be completely emptied anyway in order to reduce the number of subsequent picker bases (2) as low as possible or d) it is only chosen as high as possible in that the picking end (1.1a) of a picker (1.1) between the placing of a product (99) and the picking up of the next product (99) is its gripping end (1.1a) from the one in the base direction (10c) Direction (10c) rearmost position of his gripping area (5) or vice versa relocate. Method according to one of the preceding method claims, characterized in that - the products (99) are moved during the transfer in a product direction (10a) and / or - the nests (3) are moved in a nesting direction (10b) and, in particular, the product direction (10a) is chosen to be parallel but opposite to the nest direction (10b). Method according to one of the preceding method claims, characterized in that a) before gripping the gripping end (eg 1.1a) in a direction in the base (10c) front, in particular the foremost possible, position or in a base direction ( 10c) rear, in particular the rearmost possible, position in its gripping area (5) brought and positioned over the product (99), b) during gripping and in particular also the beginning of lifting the product (100) the gripping end (eg 1.1 a) of the gripping picker (1.1) b1) in the base direction (10c) in its gripping region (5) is moved so that it is in the product direction (10a) with the instantaneous product speed (v10a) of the product in question (99) moves, b2) is moved radially to the base direction (10c) in its gripping area (5) so that it retains its position in the transverse direction (11) to the product direction (10a), c) before depositing the product (99) the gripping end (eg 1.1a) with the product t (99) is moved in its gripping area (5) in the base direction (10c), d) during the depositing and in particular also before, during the end of the lowering of the product (99), the gripping end (eg 1.1a) d1 ) is moved in the base direction (10c) in its gripping area (5) so that it moves in the nesting direction (10b) with the instantaneous nesting speed (v10b) of the relevant nest (4) radially to the base Direction (10 c) is moved in its gripping area (5) so that it maintains its position in the transverse direction (11) to the nest direction (10 b). Method according to one of the preceding method claims, wherein - products (99) and nests (3) move in the opposite direction, - the maximum rotational speed of the gripping ends resulting from the basic speed (v10c) of the attachment ends (eg 1.1b) (eg 1.1a) is greater than both the product speed (v10a) and the nest speed (v10b) characterized in that - in step a) the gripping end (eg 1.1a) is brought to a front position, - in step b1 ) the gripping end (eg 1.1a) is moved backwards in its gripping area, - in step c) the gripping end (eg 1.1a) in the base direction (10c) in its gripping area is moved forwards from the rear half into the front half , - in step d1) the gripping end (eg 1.1a) is moved backwards in its gripping area. Method according to one of the preceding Claims 8 - 18 in which - products (99) and nests (3) move in the opposite direction, - the maximum rotational speed of the gripping ends (eg 1.1a) resulting from the basic speed (v10c) of the fastening ends (eg 1.1b) is greater than the product Velocity (v10a) but less than the nest velocity (v10b), characterized in that - in step a) the grasping end (eg 1.1a) is brought to a forward position, - in step b1) the grasping end (eg 1.1a ) is moved backwards in its gripping area, - in step c) the gripping end (eg 1.1a) in the base direction (10c) is left in its gripping area in the rear half, - in step d1) the gripping end (eg 1.1a) is moved forward in his gripping area. Method according to one of the preceding Claims 8 - 18 in which - products (99) and nests (3) move in the opposite direction, - the maximum rotational speed of the attachment ends (eg 1.1b) resulting from the base speed (v10c) of the attachment ends (eg 1.1b) is greater than the nest Speed (v10b) but less than the product speed (v10a), characterized in that - in step a) the gripping end (eg 1.1a) is brought to a rear position, - in step b1) the gripping end (eg 1.1 a) is moved forward in its gripping area, - in step c) the gripping end (eg 1.1a) in the base direction (10c) is left in its gripping area in the front half, - in step d1) the gripping end (eg 1.1a ) is moved backwards in its gripping area. Method according to one of the preceding Claims 8 - 18 , characterized in that the base direction (10c) of the attachment ends (1.1b to 1.4b) is selected to be in the direction from the product direction (10a) or nest direction (10b) which is the greater speed the product speed (v10a) or the nest speed (v10b) are moved when they are in the vicinity of this range (8) or (9). Method according to one of the preceding Claims 8 - 18 in which - products (99) and nests (3) move in unison, - the base direction (10c) of the attachment ends (eg 1.1b) has a component that matches the product direction (10a), and - the from the base speed (v10c) of the fastening ends (eg 1.1a) resulting maximum rotational speed of the gripping ends (eg 1.1a) is greater than the product speed (v10a), characterized in that - in step a) the gripping end (eg 1.1 a) is brought to a front position, - in step b1) the gripping end (eg 1.1a) is moved backwards in its gripping area, - in step c) the gripping end (eg 1.1a) in the direction of rotation in its gripping area of the rear half is moved forward in the front half, - in step d1) the gripping end (eg 1.1a) is moved backwards in its gripping area. Method according to one of the preceding Claims 8 - 18 , where - products (99) and nests (3) move in synchronism, the direction of rotation of the fastening ends (eg 1.1b) has a component which coincides with the product direction (10a), - the maximum rotational speed of the gripping ends resulting from the basic speed (v10c) of the fastening ends (eg 1.1b) (eg 1.1 b) is smaller than the product speed (v10a) characterized in that - in step a) the gripping end (eg 1.1a) is brought to a rear position, - in step b1) the gripping end (eg 1.1a) in its gripping area is moved forward, - in step c) the gripping end (eg 1.1a) is left in the gripping area in the front half in the direction of rotation, - in step d1) the gripping end (eg 1.1a) is moved backwards in its gripping area. Method according to one of the preceding Claims 8 - 18 in which: - products (99) and nests (3) move in synchronism, - the direction of rotation of the attachment ends (eg 1.1b) has a component that coincides with the nesting direction (10b), - the base velocity ( v10c) of the fastening end (eg 1.1b) resulting maximum rotational speed of the gripping ends (eg 1.1b) is greater than the nesting speed (v10b) characterized in that - in step a) the gripping end (eg 1.1a) to a front position - in step b1) the gripping end (eg 1.1a) is moved backwards in its gripping area, - in step c) the gripping end (eg 1.1a) in the direction of rotation in its gripping area from the rear half to the front half to the front is moved, - in step d1) the gripping end (eg 1.1a) is moved in its gripping area to the rear. Method according to one of the preceding Claims 8 - 18 in which: - products (99) and nests (3) move in synchronism, - the direction of rotation of the attachment ends (eg 1.1b) has a component that coincides with the nesting direction (10b), - the base velocity ( v10c) of the fastening end (eg 1.1a) resulting maximum rotational speed of the gripping ends (eg 1.1a) is greater than the product speed (v10a), characterized in that - in step a) the gripping end (eg 1.1a) to a front position - in step b1) the gripping end (eg 1.1a) is moved backwards in its gripping area, - in step c) the gripping end (eg 1.1a) is left in the gripping area in the rear half in the direction of rotation, - in step d1) the gripping end (eg 1.1a) is moved forward in its gripping area.

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