DE102017215320A1 - Method and device for handling in at least one row successively moving piece goods - Google Patents

Abstract

The invention relates to a method and a device (10) for handling unit loads (2) moving in succession in at least one row (1), which are transported to a detection area (4) of at least one manipulator (5). At least one manipulation step is performed in the detection area (4) at least two transported piece goods (2) of the at least one row (1) detected by clamping and / or positive and / or positive, spatially separated from subsequent piece goods (2) of at least one row (1) and under rotation and / or displacement into a defined first relative target position (P1) and / or target alignment with respect to subsequent piece goods (2) of the at least one row (1). In this case, the at least two recorded piece goods (2) are transferred to the defined first relative target position (P1) and / or target orientation, which is laterally offset from an alignment of the piece goods (2) following in at least one row (1). In the further process sequence further piece goods are registered, u.z. from the at least one row and / or from the at least two piece goods transferred to the first relative target position and / or destination orientation. In particular, the piece goods are spatially separated from the subsequent piece goods of the at least one row and / or from the at least two piece goods transferred to the first relative target position and / or target orientation, and rotated and / or shifted to further defined relative target positions and / or target orientations with respect to subsequent ones General cargo of the at least one row and / or brought the at least two transferred to the first relative target position and / or destination cargo. In this case, a stackable and / or palletable layer formation (12) or partial layer and / or a precursor to such a layer formation (12) or partial layer is formed from a defined number of manipulated piece goods (2) which are conveyed in a transport direction (TR) and further handling steps is supplied

Description

The present invention relates to a method for handling in at least one row in succession moving piece goods with the features of the independent method claim 1. Furthermore, the invention relates to a device for handling in at least one row in a row moving piece goods with the features of the independent apparatus claim 10th

In known methods for packaging and / or palletizing piece goods such as parcels, containers o. The like. These are first transported on transporting lines in lines and moved in a suitable manner, aligned and / or assembled to produce desired layer images, which are then repeatedly stacked can be stacked, for example, on prepared for pallets. These treatment steps can be usefully used, in particular, in systems for the treatment of containers for drinks. The piece goods in question may be, for example, parcels, boxes, cartons, containers or clusters. In order for the pallets mentioned are safe to transport, the compiled layer images must meet certain requirements. Conventionally, preparatory measures are necessary for the formation of such layer images, which consist for instance of grouping or collecting the piece goods, which are initially conveyed regularly or stepwise on a so-called allocation belt, on an intermediate conveyor belt to collect them from there and / or group them to a layer forming belt or to pass a layer forming table.

From the prior art, it is known to hand over individual piece goods from an allocation belt to a conveyor belt, by which it is meant that in each case individual piece goods are transferred to the conveyor belt on the allocation belt. This transfer can take place in that each individual piece goods is transferred individually to the conveyor belt by a speed difference between the conveyor belt and the conveyor belt, wherein control by optical sensors such as light barriers can be present. It is also conceivable to transfer the piece goods occasionally from the conveyor belt by stepwise driving the layer forming belt. In order to transfer individual piece goods from the conveyor belt to the ply forming belt in such a way, the ply forming belt can be moved in synchronized steps with the conveyor belt exactly by a length of a piece goods in the transport direction. Depending on the desired layer formation, these groups or parts of the grouped piece goods can also be rotated on the conveyor belt, in order then to be transferred to the layer forming belt.

For the design of grouping tables, the merging of piece goods such. As cartons, shrink packs, so-called. Trays and plastic boxes are used, the prior art knows different variants. For example, piece goods can be brought together by being brought into a two-dimensional formation (block formation, eg pallet layer). For this purpose, for example, a roller conveyor from an alley or from several lanes can be supplied linearly. The piece goods can be rotated as required before or on the roller conveyor and placed on the roller conveyor mechanically by stopping in the required position. The piece goods thus positioned can then be pushed off the roller conveyor orthogonally to the transport direction. The inflow, the arrangement and the removal of the piece goods can be considered as one cycle. At least one cycle is needed to make a layer, but normally it takes several cycles. The partially discontinuous promotion with their relatively abrupt changes in speed or direction causes correspondingly high mechanical loads on the piece goods, which can be detrimental to a product-friendly processing of the piece goods.

The document EP 1 465 101 A2 discloses a device for the series formation of packaged goods for packaged palletizers. The container palletizer comprises at least one ply station and at least one palletizing station. The row forming device comprises at least one positioning station, on which the packaged goods are arranged during transport in at least one row at desired intervals. The positioning station is connected to a supply conveyor associated with the paging station. Upstream of the positioning at least one accumulation conveyor is arranged, wherein the positioning station has a plurality of conveying sections arranged in succession in the transport direction with controllable and controllable drives. With the controllable and controllable drives, it is possible to achieve a desired distance formation of the packaged goods. The row forming device has at least one monitoring device for determining and monitoring the spacing of the packaged goods. The structure of this known row forming device is relatively complicated and complicated, especially as it requires a variety of bands, which are needed for a spacing formation and / or rotation of the packaged goods.

Out US 5 123 231 A a device is known for assembling articles into groups and their subsequent packaging. On a conveyor belt, the articles are each fed at a predefined distance to an accumulation belt on which the groups from one always same number of articles. The groups are fed with a subsequent band of a packaging device.

The primary object of the invention is to enable precise and precise positioning and handling of piece goods transported in at least one row. The corresponding device should be operated faster than the known from the prior art manipulation devices, and this with at least approximately the same reliability and approximately the same precision.

These objects of the invention are achieved with the subject matters of the independent claims, i. with a method and a device for handling in at least one row successively moving piece goods, which comprise the features of the independent claims. Features of advantageous developments of the invention will become apparent from the respective dependent claims.

The invention relates to a method and a device for handling and / or handling piece goods moved in succession in at least one row, which are transported to a detection area of at least one manipulator. The piece goods moving in at least one row one behind the other can optionally be supplied with the same or different gaps between successive piece goods, optionally also with piece goods moved directly and without intervals. Regardless of the sequence of piece goods transported one after the other, they are usually transported one behind the other in alignment. The piece goods transported in a row can optionally be transported intermittently, for example in successive rows of a plurality of piece goods etc. If in the context of the present description only one method, one method variant, the method according to the invention or the like is mentioned, then so is thus generally referred to the said method for handling in at least one row behind the other and / or intermittently one behind the other and / or at different distances to each other moving piece goods. If, in addition, in the context of the present description only a device, a device variant, the device according to the invention or the like is mentioned, this generally refers to the named device for handling piece goods moved one behind the other.

If, here, in the exemplary embodiments, in the claims and / or in connection with the entire disclosure disclosure of a handling of piece goods is mentioned, this includes equally the handling, the detection, the positioning, the movement in space, the rotation, Alignment etc., in particular in connection with a manipulator and / or moving parts of the manipulator, which are arranged in a detection space and can move there within definable limits. However, the term handling includes equally positioning, conveying and / or all types of handling steps that may take place in connection with conveyors, horizontal conveyors, conveyor belts, etc., which are part of the device according to the invention and / or in operative connection with and / or in a transport connection, be it in the transport and / or conveying direction downstream, upstream or integrated parts of the device according to the invention.

The piece goods can be items moved in succession, packages, container combinations, containers, cardboard boxes or similar. act. For example, it can be provided that a plurality of identical or different piece goods or articles are combined by a cardboard outer packaging, by a strapping or several strapping, by a film package o. The like. To form a container or mixing container. Furthermore, a plurality of beverage containers, which are held together by a shrink wrap, for example, by a strapping band or several strapping bands, each form a piece goods. The successively moving piece goods can be designed the same or different depending on the requirements of subsequent handling devices.

The, for example, transported in a row without distances or with minimal or larger and / or variable distances from each other and / or transported to a - particular manipulation area or detection area -, at least two immediately consecutive cargo can be transported, for example, as a closed formation , The term "closed formation" may primarily mean a largely continuous succession of piece goods which are transported one behind the other. The closed formation in the sense of the present invention may have a finite length and a limited number of piece goods, after which a gap and such a gap may possibly follow another such formation, which is subsequently transported. Such a sequence may be repeated, possibly even multiple, multiple or indefinite. The closed formation can also be transported as an endless formation, which has no interruption and comprises any number of piece goods. From this formation or closed formation, at least one transported piece of cargo is clamped and / or or positively and / or positively detected, spatially separated from the formation and brought into a defined relative target position and / or targeting towards subsequent cargo of the formation.

However, in deviation to this, the piece goods can also be conveyed in clocked feed to the manipulator or to its detection space, which means both conveyance into rows with respectively defined distances of the piece goods from each other and / or rows of finite length with larger gaps between such successive rows can. A closed formation in such a sense can also be understood as a longer sequence of several such rows, which thus does not mean a complete succession of piece goods, but in their entirety due to the regular transport with regularly repeating patterns of piece goods transported one behind the other and their respective gaps can also be regarded as a closed formation in the broadest sense. However, such a described transport sequence of piece goods of a clocked infeed or the concept of a clocked infeed comes closer than a strictly continuous succession of piece goods. Such a clocked formation may be repeated, possibly even multiple, multiple or indefinite. However, this clocked formation can also be transported as an endless formation, which has no interruption and comprises any number of piece goods.

From the inlet of the closed formation or clocked, i. with defined spaces between successive piece goods or groups of several piece goods, supplied piece goods are detected in at least one manipulation step within the detection range by means of the manipulator at least two transported piece goods from the at least one row clamping and / or positive and / or positive fit of subsequent cargo spatially separated at least one row and placed under rotation and / or displacement in a defined first relative target position and / or target orientation with respect to subsequent piece goods of at least one row.

If in the context of the present invention of a clamping detection of cargo is mentioned, this also includes a non-positive and / or frictional engagement, a frictional and / or frictional gripping or picking up cargo. All these variants of picking up, grasping and / or gripping piece goods can be combined equally with a form-locking gripping, gripping or picking up the piece goods. In the context of the present invention, when a target position and / or a target orientation is mentioned, this may mean, in particular, that the piece goods can be picked up, moved and / or rotated and / or lifted, the piece goods optionally also only being displaced or raised (FIG. without rotation) or only rotated (without sliding movement) can be.

The at least two detected piece goods are in this case transferred to a defined first relative target position and / or target orientation within the detection range of the at least one manipulator, which is laterally offset from the alignment of at least one row subsequent piece goods / arranged. For example, the manipulator is assigned a horizontal conveying device, on which the manipulator arranges the respectively detected piece goods in the relative target position and / or target orientation. The horizontal conveying device preferably moves in a transport direction and at a conveying speed, which in particular corresponds to the transport direction and the transport speed of the piece goods supplied in at least one row, preferably via at least one transport device. In other words, the relative arrangement between the feeding piece goods and the piece goods transported by the manipulator is fixed, unless they are again detected and manipulated by the manipulator in further method steps.

In at least one further manipulation step of the further process sequence, at least one piece goods of the at least one row and / or of the at least two piece goods transferred to the first relative target position and / or target orientation are clamped and / or positively and / or positively locked, of the respective ones subsegments of the at least one row and of the piece goods arranged in the first relative target position and / or target orientation and brought under rotation and / or displacement into further, in particular second, defined relative target positions and / or target orientation. In this case, different quantities of one, two or more piece goods can be detected and manipulated by the manipulator in each process step.

By means of a plurality of suitable manipulation steps, a stackable and / or palatable layer formation or partial layer and / or a precursor to such a layer formation or partial layer is thus formed from a defined number of manipulated piece goods. This can be further transported in the transport direction and supplied to further handling steps, for example, a Vorgruppierung to form a compact layer and then a palletizer for the arrangement of the compact layer on a stacking surface, such as a pallet. If in the context of this application of manipulated piece goods is mentioned, then fall under it all piece goods that run into the detection range of the manipulator and find an arrangement within the layer formation.

The piece goods can be detected by the manipulator and arranged in a defined relative target position and / or target orientation to subsequent piece goods. However, individual piece goods or groups of piece goods can also be moved without contact to the manipulator on the horizontal conveyor in alignment with the transport direction and thereby occupy a target position within the layer formation. A distance to the subsequent piece goods of zugeförderten row arises here, for example, by the manipulator in the transport direction downstream piece goods of the series picks and spends in a target position and / or target orientation according to the layer scheme.

The number of piece goods, which can be tapped in the further manipulation steps by the at least one manipulator or by at least one gripper head of the at least one manipulator to be described in more detail below, depends in each case in particular on the layer scheme to be created. In each case at least one piece goods or a group comprising at least two piece goods are always detected by the manipulator, separated from the subsequent piece goods of at least one row and spent in a respective relative target position and / or target arrangement.

According to one embodiment of the invention, the transfer of the packaged goods detected by the manipulator into the defined first relative target position and / or target orientation and into further relative target positions and / or target orientations takes place successively in terms of time, in particular in mutually independent manipulation steps. This is the case in particular when the goods are transported by means of a single manipulator and / or when individual items are picked up twice by the manipulator and in a first manipulator step into a first laterally offset target position and / or target orientation and in a subsequent manipulation step into a first manipulator step further target position and / or target orientation are spent according to a predetermined location scheme.

According to one embodiment of the invention, in a further manipulation step, at least one of the at least two piece goods transferred to the laterally offset first relative target position and / or target orientation is re-detected by the manipulator and transferred to a further relative target position and / or target arrangement according to the predetermined layer scheme. That is, the arrangement of this at least one doubly manipulated piece goods in the first target position and / or arrangement does not correspond to the desired arrangement according to a predetermined and produced by the manipulator layer scheme. Also in this embodiment, piece goods moved in succession are transported in at least one row to the detection area of the at least one manipulator.

In the detection area at least two cargo items are detected by clamping and / or positive and / or positive, spatially separated from subsequent cargo of at least one row and laterally offset by rotation and / or shift in the defined first relative target position and / or target orientation to escape the in brought at least one row of subsequent piece goods. These laterally staggered at least two piece goods form a simulated additional series of piece goods, of which the manipulator can also grasp and relocate piece goods in subsequent process steps. In particular, it can be provided that the manipulator in subsequent process steps detects either piece goods of this simulated additional series and spends in a further target position and / or target orientation, or that the manipulator uses piece goods of the normally supplied row. The piece goods transported by the manipulator into the respective target position and / or target orientation together with the at least two offset laterally to escape the piece goods following in series, which may have been relocated to a further target position and / or target orientation in a further method step stackable and / or palletable layer formation or partial layer and / or a precursor to such a layer formation or partial layer. This layer formation or partial layer is conveyed in a transport direction and supplied to further handling steps.

In this case, it may be provided that all piece goods arranged first in the first target position and / or target orientation as a simulated second row are gripped again by the manipulator in one or more manipulation steps and positioned in a further target position and / or target orientation according to the predetermined layer scheme to be created , Alternatively, it can also be provided that at least one of the at least two piece goods arranged as a simulated second row in the first target position and / or target orientation in this first target position and / or target orientation remains a component of the layer scheme to be created.

By arranging some piece goods within the detection area in the form of a simulated second row, the distances to be covered by the manipulator can be optimized, in particular the necessary return stroke can be shortened. In particular, it is possible to form layers which at least partially comprise piece goods which have been captured twice by the manipulator and offset in time in target positions and / or target orientations, in particular wherein the piece goods are first offset laterally into a first intermediate position and / or intermediate orientation to escape the in Row subsequent piece goods and subsequently in a further target position and / or target orientation according to the predetermined position scheme within the detection range of the manipulator, in particular on the manipulator associated horizontal conveyor, are arranged.

According to one embodiment of the invention, the manipulator may delay the detected and laterally offset piece goods against the conveying speed within the detection range. In particular, the manipulator can delay the piece goods with respect to the conveying speed of the horizontal conveyor. The piece goods are preferably released by the manipulator in a first target position and / or target orientation, in which the piece goods of the simulated additional row arranged in the transport direction and the piece goods arranged in the transport direction at the front are in a common height. That the two previously arranged piece goods of the simulated row and the real conveying row are each equidistant in the detection area and are now transported in parallel. As a result, the space within the detection range can be used particularly well.

The simulated additional series can be advantageously used, for example, if due to a disturbance in a subsequent processing module, for example a pre-grouping, a palletizer or the like. the formation of layers must be delayed, but the supply of general cargo can not be stopped immediately. This problem arises in particular when the piece goods are shrinkage packs which are fed substantially directly from a shrink tunnel to the detection area of the manipulator.

Although the supply of shrink-wrapped article assemblies can be completed in a timely manner, the shrink-wrapped article assemblies at the time of failure within the shrink tunnel still need to be transported out of the shrink tunnel to avoid excessive heating thereof, resulting in product damage would lead. For this reason, in particular in the case of a spatially close arrangement of shrink tunnel, grouping module comprising horizontal conveyor device and at least one manipulator and palletizer without or with only short intermediate buffer sections or similar. make sense to stop the layer formation within the Gruppiermoduls not immediately due to the disturbance in the subsequent processing module, but to delay instead.

For example, the transport speeds of the piece goods feeding the transport device and the horizontal conveyor of the Gruppiermoduls be delayed and the motion profile of the at least one manipulator can be adjusted. In addition, piece goods that can no longer be processed, as additional simulated rows laterally offset to the subsequent entering the detection area piece goods, are arranged, thus forming a simulated buffer area. It can be provided that even as a simulated series staggered piece goods seized by the manipulator in a later step again and moved counter to the transport direction to counteract the movement of the horizontal conveyor in the transport direction and to prevent the buffered cargo too far in the Run in the detection area and possibly interfere with the layer formation.

After the fault has been remedied, the at least one manipulator can first process the buffered piece goods arranged in simulated rows. It can be provided, for example, that the horizontal conveyor is not turned on again, so that no movement of the buffered cargo takes place in the transport direction. Only after at least one new layer arrangement has been formed and / or all buffered piece goods have been processed, are piece goods in at least one row fed again in a transport speed, and the horizontal conveyor is operated at a transport speed corresponding to the conveying speed.

Furthermore, it can be provided that the at least one manipulator detects at least two parcels, separates them from the subsequent parcels of the at least one row and can spend them in respectively different relative target positions and / or target orientations. According to an alternative embodiment, the transfer of general cargo into the defined first relative target position and / or target orientation and into further relative target positions and / or target orientations takes place at least in sections at least in sections simultaneously and / or in time overlapping phases. This is the case, in particular, when two or more manipulators are provided for the movement of the piece goods or when the at least one manipulator comprises two or more individually controllable gripper heads which can independently detect piece goods and spend them in a respective target position and / or target arrangement , The at least two manipulators or the at least two gripper heads of a manipulator can in particular independently move, rotate, lift, etc., for example one of at least two manipulators can grasp two piece goods and place them laterally offset in a first relative target position and / or target orientation; while the other manipulator can simultaneously grasp at least one further article of the series in temporal or temporally overlapping manipulation phases and arrange them in the second relative target position and / or target orientation.

In the context of this application is generally spoken by manipulator, so at least one manipulator or at least one gripper head of a manipulator is meant. Furthermore, embodiments are also encompassed in which a plurality of manipulators or manipulators having a plurality of gripper heads which can be controlled independently of one another are used.

According to one embodiment, piece goods in at least two parallel rows are fed to the detection area of at least one manipulator. In this case, at least one defined manipulation step can be provided, in which at least two piece goods are simultaneously picked up by the at least two parallel rows, can be separated from the at least two rows conveyed in parallel in the same transport direction and moved into respectively different relative target positions.

The manipulator can, for example, have at least two gripper heads which are rotatable independently of one another about parallel vertical axes of rotation, with which they can each transfer piece goods that they have collected from at least two parallel rows into different target positions, wherein the at least two rotatable gripper heads each hold the piece goods thus grasped can bring in the at least two different target positions in variable and / or each different target orientations. For example, it can be provided that one gripper head arranges the piece goods it detects laterally displaced to run in series trailing cargo, while the other gripper head rotates the detected by him piece goods, for example, 90 degrees about the vertical axis of rotation and in a target position in flight or arranged laterally offset to escape the in line trailing piece goods.

Furthermore, it can be provided that the gripper heads of the manipulator are variable in their distances from each other, in particular in a time interval between the detection of the cargo and the discontinuation of the cargo in the respective target positions and / or target orientations. Furthermore, it can be provided that the rotational movements and the changes in the distance between the at least two pieces of goods detected by the respective gripper heads can take place simultaneously in some manipulation steps, in particular wherein the change in the distance between the at least two piece goods and the rotational movements of the respective gripper heads of the manipulator at least coupled at some manipulation steps. The coupling is preferably carried out electronically by means of a suitable control device.

In particular, a manipulator with at least two individually controllable gripper heads can also simultaneously arrange piece goods of different layer formations. For example, one of the gripper heads can arrange a last piece or a last group comprising at least two piece goods in a target position and / or target orientation, which together with previously arranged piece goods a first layer formation, while the detected by the second gripper head piece goods already the Forming a new layer formation.

The substantially simultaneous tapping of piece goods supplied in at least two parallel rows can alternatively also be carried out with at least two manipulators which can be controlled independently of one another. Also in this case it can be provided that at the same time piece goods of a first layer and piece goods of a second layer can be brought into a respective target position and / or target orientation by the two manipulators.

With the method steps described above, a stacked and / or palettable layer formation or partial layer can be formed from the at least two piece goods separated from the at least one row and brought into the first relative target position and / or target orientation as well as further piece goods transported in respective relative target positions and / or target orientations are generated, which can subsequently be supplied to further handling devices.

The invention further relates to a device for handling in at least one row successively moving piece goods. The Device comprises at least one manipulator for the piece goods and at least one transport device, via which in series one behind the other arranged piece goods can be transported in a detection range of the at least one manipulator. The at least one manipulator is designed for the clamping and / or positive and / or positive reception of at least one piece good, for separating it from subsequent piece goods and for arranging in a relative target position and / or target orientation. In at least one manipulation step, the manipulator detects at least two piece goods and transfers them to a laterally offset target position and / or target orientation, as has already been described in detail in connection with the method. Furthermore, further piece goods, in particular in each case at least one piece goods, are detected by the manipulator in a further process sequence and are transferred to respective relative target positions and / or target orientations defined in each case according to a predetermined position scheme. By means of these manipulation steps, a stackable and / or palletable layer formation or partial layer and / or a precursor to such a layer formation or partial layer is formed, which is subsequently conveyed further in the transport direction and fed to further handling steps.

The at least one manipulator can furthermore be designed to rotate the at least one detected piece good in order to be able to convey it with rotation and / or displacement into the relative target position and / or target orientation.

According to one embodiment of the invention, the at least one manipulator comprises at least one gripper head. This gripper head must be designed for detecting at least one piece goods, but in particular also for detecting at least two piece goods. The at least one gripper head is preferably arranged rotatably about a vertical axis on a rotary joint and serves to detect the piece goods / the piece goods. The positioning of the gripper head of the manipulator relative to the row of supplied piece goods and / or relative to the previously laterally staggered piece goods in the first target position and / or target orientation is such that by the manipulator according to the predetermined position scheme in a target position and / or target orientation The number of piece goods to be arranged can be recorded.

The at least one manipulator or parts of the at least one manipulator can be formed by a parallel kinematic robot. In particular, the manipulator or parts thereof may be based on a so-called delta robot or parallel kinematic robot, which in a three-arm design, as it is increasingly used in practice, may also be referred to as a tripod. Each of the arms of such a tripod or delta robot consists of a driven at the base about a frame fixed pivot axis pivotally mounted upper arm and articulated to the upper arm and a coupling element connected to the lower arm. Each of the arms of such a tripod or delta robot consists of a driven at the base about a frame-fixed pivot axis pivotally mounted upper arm and articulated to the upper arm and the coupling element connected to the lower arm. One or more of the lower arms can be connected, for example, via ball joints with the respectively associated upper arms and the coupling element. Such a single forearm is free to pivot and has no inherent stability. All upper arms of a delta robot are each mounted pivotably about preferably lying within a common plane pivot axes and can all be driven and equipped with separate drive motors. Three connected to the coupling element and each with its associated upper arm forearms form a force triangle in each position, which can only move when the three upper arms synchronously or simultaneously perform the calculated for them pivoting movements about the frame fixed pivot axes. A handling device with such a manipulator and various methods that can be carried out with such a manipulator are, for example, in the application with the file reference DE 10 2016 206 639.0 described, the contents of which are hereby incorporated into this application and the contents of which the skilled artisan should read as known when reading the present application.

The manipulator or the gripper head of the manipulator has according to one embodiment, two movable and / or against each deliverable jaws, between which the at least one cargo can be clamped and thereby moved according to the target position. However, there are also numerous other gripping and / or detection principles useful, possibly even in combined form. Since in the present description in addition to the positive detection of cargo also often from a jamming detection of cargo is mentioned, it should be mentioned at this point that it should also be included a non-positive detection, as in the individual gripping operations usually not exactly determinable and in particular is not exactly delimited from each other, as the actual power transmission from the gripping elements on the cargo, the container, etc. takes place. A positive detection with simultaneous slight clamping usually contains at least a slight frictional connection.

A further embodiment provides for the arrangement of manipulators arranged one behind the other in the transport direction within the device. The upstream manipulator in the transport direction detects at least two packaged goods and arranges these in a staggered to escape the feeding row arrangement within the detection range, whereby at least one additional feeding row is simulated. The manipulator, which is subsequently arranged in the transport direction, picks up the piece goods required for the layer formation from the feeding row or from the at least one simulated row. So can be easily created from a feeding row of piece goods several rows of cargo for subsequent processing. This reduces the paths for the subsequent, the layer formation creating manipulator, in particular thus the necessary return stroke of the manipulator between the discontinuation of cargo in a target position and / or target arrangement and the detection of other cargo can be reduced or minimized.

A further embodiment variant of the method according to the invention for handling unit loads moved in at least one row in succession, which are transported to a detection area of at least one manipulator, provides that in at least one manipulation step in the detection area (FIG. 4 ) at least two transported piece goods ( 2 ) of at least one row ( 1 ) clamped and / or positively and / or positively detected, from subsequent general cargo ( 2 ) of at least one row ( 1 ) spatially separated and rotated and / or shifted in a defined first relative target position ( P1 ) and / or targeting towards subsequent general cargo ( 2 ) of at least one row ( 1 ) to be brought. In addition, this further variant of the method provides that the at least two registered general cargo ( 2 ) into the defined first relative target position ( P1 ) and / or target orientation laterally offset from one another in at least one row ( 1 ) subsequent general cargo ( 2 ) is trained. Furthermore, this method variant provides that in at least one further manipulation step at least one piece goods ( 2 ) from the at least two to the first relative target position ( P1 ) and / or targeting of general cargo ( 2 ) clamped and / or positively and / or positively detected and from the subsequent general cargo ( 2 ) of the at least two in the first relative target position ( P1 ) and / or targeting transferred general cargo ( 2 ) spatially separated and with rotation and / or displacement in a further defined relative target position ( P2 ) and / or targeting. In addition, it is provided that a defined number of manipulated general cargo ( 2 ) a stackable and / or palletable layer formation ( 12 ) or partial position and / or a precursor to such a layer formation ( 12 ) or sub-layer, which in a transport direction ( TR ) and supplied to further handling steps.

It should be expressly mentioned at this point that all aspects and variants which have been explained in connection with the device according to the invention, may equally relate to partial aspects of the method according to the invention or may be. Therefore, if at some point in the description or in the claim definitions for the device according to the invention of certain aspects and / or relationships and / or effects is mentioned, this is equally true for the inventive method. Conversely, the same applies, so that all aspects and variants which have been explained in connection with the method according to the invention can equally relate to or may be partial aspects of the device according to the invention. Therefore, if at some point in the description or in the claim definitions for the method according to the invention of certain aspects and / or relationships and / or effects is mentioned, this applies equally to the inventive device.

The above-described embodiments of the method to be carried out by means of a suitable device are used, in particular, for the collision avoidance of piece goods with machine components and / or the maintenance of the operation in the event of disturbances in the inlet and in particular in the event of faults in subsequent handling processes.

• 1 bis 16 zeigen schematisch einen zeitlichen Ablauf eines ersten Ausführungsbeispiels eines Verfahrens zum Umgang mit in mindestens einer Reihe hintereinander bewegten Stückgütern durch eine Handhabungsvorrichtung.
• 17 und 18 zeigen schematisch einen zeitlichen Ablauf eines zweiten Ausführungsbeispiels eines Verfahrens zum Umgang mit in zwei Reihen hintereinander bewegten Stückgütern durch eine entsprechende Handhabungsvorrichtung.
• 19 zeigt ein drittes Ausführungsbeispiel.
• 20 bis 22 zeigen einen weiteren Ablauf eines Verfahrens zum Umgang mit in zwei Reihen hintereinander bewegten Stückgütern durch eine entsprechende Handhabungsvorrichtung.
• 23 bis 33 zeigen einen alternativen Ablauf eines Verfahrens zum Umgang mit in mindestens einer Reihe hintereinander bewegten Stückgütern durch eine entsprechende Handhabungsvorrichtung.

In the following, embodiments of the invention and their advantages with reference to the accompanying figures will be explained in more detail. The proportions of the individual elements to one another in the figures do not always correspond to the actual size ratios, since some shapes are simplified and other shapes are shown enlarged in relation to other elements for better illustration.

• 1 to 16 schematically show a time sequence of a first embodiment of a method for handling in at least one row successively moving piece goods by a handling device.
• 17 and 18 schematically show a time sequence of a second embodiment of a method for handling in two rows one behind the other moving piece goods by a corresponding handling device.
• 19 shows a third embodiment.
• 20 to 22 show a further sequence of a method for handling in two rows one behind the other moving piece goods by a corresponding handling device.
• 23 to 33 show an alternative sequence of a method for handling in at least one row successively moving piece goods by a corresponding handling device.

For identical or equivalent elements of the invention, identical reference numerals are used. Furthermore, for the sake of clarity, only reference symbols are shown in the individual figures, which are required for the description of the respective figure. The illustrated embodiments are merely examples of how the device or method of the invention may be configured and are not an exhaustive limitation.

The 1 to 16 schematically show a timing of a first embodiment of a method for dealing with in at least one row 1 one-by-one moving piece goods 2 by a handling device 10 , The handling device 10 is in particular a layer forming module, the at least one grouping module 20 includes. The handling device shown 10 comprises a first transport device 3 , about which directly successive piece goods 2 in a first row 1 uninterrupted and / or with a continuous transport speed v3 into a detection area 4 at least one manipulator 5 the handling device 10 be transported. The coverage area 4 means in the present context, in particular the maximum and / or the respective program-controlled predetermined movement space of the manipulator 5 , Like the 1 can detect, the detection range 4 or whose outer spatial boundary be greater than the outer limits of the horizontal conveyor 6 pretend on their approximately horizontal top of the cargo 2 conveyed and / or by means of the manipulator 5 be positioned and / or moved. Usually, however, is the detection area 4 of the manipulator 5 the sensible range of motion, in which to be detected cargo 2 can be located and / or in which the abzusetzenden piece goods 2 can be positioned. The at least one manipulator 5 and the horizontal conveyor 6 form essential components of the grouping module 20 in which the arrangement of the piece goods 2 takes place according to a predetermined position scheme.

cargo 2 For the purposes of the present invention or the described embodiment may be, for example, individual items, packages or containers. Packages or containers can, for example, be shrink-wrap containers and / or strapping containers or the like, more, whereby usually several articles such as in particular containers, liquid and / or beverage containers are combined into containers.

The piece goods 2 can on the transport device 3 For example, continuously continuously in the transport direction TR to get promoted. Alternatively, rows can be delivered, each containing the number of piece goods 2 include, for example, the formation of a layer of piece goods 2 needed for further processing. Such a row may be followed by further similar or shorter or longer rows, where distances may be present between successive rows, if necessary. The distances and lengths of the respective rows are expediently based on the respectively desired layer pattern or on the processing speed of the manipulator used 5 of the grouping module 20 the handling device 10 or after the maximum movement speeds of the moving parts of the manipulator to be maintained for a long time during regular operation 5 , Equally conceivable, however, are endless rows 1 with a basically endless successive piece goods sequence, the long as in a detection area 4 of the manipulator 5 until a planned or unplanned plant shutdown occurs. If in the present context of gapless succession or of directly successive piece goods 2 the speech, this includes both the case of touching piece goods 2 as well as the case of the slightly spaced piece goods 2 These cases are random and / or small size deviations of the cargo 2 etc. may be due.

The transport device 3 is for example at least one conveyor belt or at least one other suitable conveyor on which the piece goods 2 preferably (each) are transported in a single row, wherein between each directly successive piece goods 2 there is no or only a slight, possibly process-related and / or predetermined gap. In particular, the transport device 3 be formed by an endless circulating conveyor belt, an endless conveyor chain o. The like., So that so that the cargo 2 to the horizontal conveyor 6 can be delivered and transported. The in series 1 on the transport device 3 located piece goods 2 thus run in a so-called closed formation F in the coverage area 4 of the manipulator 5 one.

The manipulator 5 is for the clamping and / or positive and / or non-positive receipt of general cargo 2 within the coverage 4 (see. 1 trained and fitted. The from the manipulator 5 recorded general cargo 2 - ie usually in the formation F previously registered general cargo 2 - become subsequent to the distinction of the others in the formation F or the overall formation arranged piece goods 2 with the reference number 2 * designated. For example, the manipulator attacks 5 at least one, preferably at least two or three consecutively arranged in a closed formation F incoming goods 2 . 2 * , separates them from the single-row formation F from the cargo and transferred the separated cargo 2 * or the separated group of two or three piece goods arranged in series without gap 2 * each in a target position and / or target orientation according to a predetermined location scheme for creating a situation 12 or partial position. It can be provided that the cargo 2 * or the group of general cargo 2 * laterally opposite the incoming formation F on piece goods 2 is shifted and / or it can be provided that the cargo 2 * or the group of general cargo 2 * through the manipulator 5 in the transport direction TR from the formation F the piece goods 2 is spaced and / or that the cargo 2 * or the group of piece goods 2 * compared to the general cargo 2 the formation F is twisted or similar. Furthermore, the manipulator 5 the at least one registered piece goods 2 * also raise and possibly already on the horizontal conveyor 6 in target position P arranged piece goods 2 . 2 * or about piece goods 2 the series 1 exalt.

If in the present case or generally in the context of the present invention generalizing of a manipulator 5 the speech is, it may be specific to the transfer of the at least one piece goods 2 . 2 * in the target position P and / or target orientation provided part of the manipulator 5 for example, a tool head, a rapier head or the like. act, which is, for example, supported on movably mounted cantilever arms and stored, which cantilever arms in turn typically on a frame or frame o. The like. Can be mounted fixed to the frame. Such - also known as parallel kinematic arrangement - manipulator or manipulator arrangement allows the desired mobility of the gripper head (also: the manipulator 5 ), which is the piece goods 2 . 2 * capture, move, position, place, rotate, etc. in the desired manner to the respective target positions P and / or targeting of the piece goods 2 . 2 * to be able to approach. However, other suitable manipulator configurations are also conceivable, for example those with gantry robot guides or the like. These other manipulator configurations may optionally refer to single, multiple or all variant embodiments mentioned in the context of the present description of the drawings and / or the entire description of the invention.

The schematic plan views of 1 to 16 show the transport direction TR Continuous continued transport of the series 1 or formation F in the coverage area 4 the handling device 10 or the manipulator 5 reach. In particular, the piece goods are 2 the series 1 in the coverage area 4 on the horizontal conveyor 6 without interruption and with unchanged conveying speed v6 transported before, before the positioning or detection by the manipulator 5 and usually again after reaching the respective target position P ,

As mentioned above, the scope is 4 (only in 1 shown) in particular the horizontal conveyor 6 assigned, whose the piece goods 2 . 2 * carrying surface at a conveying speed v6 emotional. In particular, the conveying speed v6 the horizontal conveyor 6 the transport speed v3 the transport device 3 correspond. Optionally, the transport speed v3 and the conveying speed v6 also slightly different, provided it can be ensured that the uninterrupted promotion of general cargo 2 . 2 * to the horizontal conveyor 6 is maintained. The in series 1 or formation F about the transport device 3 arriving piece goods 2 At least at different speeds v3 and v6 due to the higher transport speed v3 possibly resulting dynamic pressure of the subsequent piece goods 2 on the horizontal conveyor 6 be pushed over and transported there without interruption. However, it is necessary in this case to reduce this back pressure by suitable measures, for example by means of a rubberized conveyor belt of the horizontal conveyor 6 and / or by means of a rubberized conveyor belt of the transport device 3 , optionally also by a between the transport device 3 and the horizontal conveyor 6 located so-called brake band, which by one the piece goods 2 bearing surface is characterized by a particularly high coefficient of friction. These or other suitable measures ensure precise positioning of the respective piece goods 2 at the respective detection location in the detection area 4 , allowing a precise acquisition by the manipulator 5 is to ensure. However, it should be emphasized that such measures are not desirable to reduce any existing or resulting dynamic pressure, even if they are indispensable or useful depending on the chosen configuration of the moving parts.

The grouping module 20 is in the transport direction TR subordinate, for example, a pre-grouping 21 arranged in which the as location 12 arranged piece goods 2 , 2 * with appropriate Centering elements (not shown) to a compact position 13 be pushed together.

To optimize the process times, especially to reduce the through the manipulator 5 each traversable paths between the collection of piece goods 2 . 2 * and positioning in a target position P and / or target arrangement and / or the re-capture of other cargo 2 . 2 * , can advantageously a larger number of piece goods 2 . 2 * through the manipulator 5 captured and as a second new series 1 - 2 within the grouping module 20 on the horizontal conveyor 6 arranged and / or gripped ( 1 to 3 ). In the subsequent process steps are now on the transport device 3 within the row 1 trailing piece goods 2 or piece goods 2 . 2 * the new one within the grouping module 20 created series
1-2 through the manipulator 5 captured and in a desired target position P and / or target arrangement according to the predetermined position scheme spent.

In the illustrated embodiment are by the manipulator 5 four piece goods 2 from the over the Transproteinrichtung 3 incoming series 1 recorded (cf. 1 ) and as a new series 1 - 2 laterally offset on the horizontal conveyor 6 arranged (see the 2 and 3 ). The new second series 1 - 2 is especially in the transport direction TR offset to the right on the transport device 3 incoming series 1 arranged. According to 4 becomes a piece goods 2 . 2 * this new series 1 - 2 again through the manipulator 5 detected and rotated 90 degrees counterclockwise to a target position P1 spent (cf. 5 ). In the subsequent process step, according to the 5 to 8th two piece goods 2 . 2 * the newly created series 1 - 2 detected and rotated 90 degrees clockwise to a target position P2 spent. The next step will be through the manipulator 5 four piece goods 2 from the over the Transproteinrichtung 3 incoming series 1 captured and as a new series 1 - 3 in the transport direction TR laterally offset to the left on the horizontal conveyor 6 arranged (cf. 8th to 11 ). Subsequently, by the manipulator 5 two piece goods 2 . 2 * about the transport device 3 incoming series 1 captured and in the gap between the two piece goods 2 . 2 * the series 1 - 2 Turning 90 degrees clockwise to a target position P2 have been spent and the last piece goods 2 . 2 * the series 1 - 2 that after forming this new series 1 - 2 not further through the manipulator 5 has been processed, in a corresponding target position P3 inserted, with a 90 degree counterclockwise rotation and a lift of the last piece good 2 . 2 * the series 1 - 2 may be necessary or where a rotation of 270 degrees clockwise may be useful (see. 11 to 14 ).

Subsequently, the piece goods are now 2 . 2 * the new on the horizontal conveyor 6 created series 1 - 3 successively through the manipulator 5 recorded and according to the predetermined position scheme for training a further position accordingly in the predetermined target positions P4 etc. and / or target arrangements on the horizontal conveyor surface 6 arranged (cf. 15 and 16 ).

Due to the continuous movement of the horizontal conveyor 6 in the transport direction TR , the in 1 already finished location 12 at positioned piece goods 2 . 2 * continuously in the direction of pre-grouping 21 transported further. If all cargo is 2 . 2 * the situation 12 within the pre-grouping 21 are located (cf. 12 ), These are by means of suitable centering elements (not shown), to a compact position 13 pushed together (cf. 13 ). As centering, for example, each deliverable against each other, parallel thrust bars are used. Here, at least one transverse to the transport direction TR extending stop bar be provided as well as in the transport direction TR downstream, transversely to the transport direction TR extending, first push bar. The first push bar can in the transport direction TR to be moved. The first push bar pushes the piece goods 2 . 2 * the situation 12 in the transport direction TR against the first stop bar and closes the gaps between the cargo 2 . 2 * the situation 12 , Furthermore, parallel to the transport direction TR arranged, transversely to the transport direction TR movable second push bar may be provided, which are the piece goods 2 . 2 * the situation 12 push together by a feed movement against each other, creating a compact location 13 is trained.

The 17 and 18 schematically show a timing of a second embodiment of a method for dealing with in at least one row 1 one-by-one moving piece goods 2 by a corresponding handling device 10 , In this embodiment, general cargo 2 in two parallel rows 1a . 1b via two parallel transport devices 3a . 3b the grouping module 20 fed. The horizontal conveyor 6 of the grouping module 20 may be formed by a wide endless conveyor belt, or by a plurality of parallel juxtaposed conveyor belts. Within the grouping module 20 are in this case two manipulators 5a . 5b intended. In particular, it is provided that the manipulator 5a each piece goods 2 the series 1a picks up and according to the given layer scheme as a sub-layer 12a on the horizontal conveyor 6 arranges. Furthermore, it is provided that the manipulator 5b each piece goods 2 the series 1b picks up and according to the given layer scheme as a sub-layer 12b on the Horizontal conveyor 6 arranges. The two manipulators 5a . 5b are preferably independently controllable, but the movement profile of the two manipulators 5a . 5b coordinated so that they do not collide.

Here, too, at least in the meantime, more Zulaufreihen 1 - 2 on piece goods 2 within the grouping module 20 created. The piece goods 2 by the manipulators 5a . 5b according to the embodiment of 1 to 16 produced new, additional rows 1 - 2 are subsequently used to complete the respective partial days 12a . 12b used ( 18 ). Subsequently, the two partial layers 12a . 12b within the pre-grouping 21 to the compact position 13 pushed together and prepared in particular for palletizing.

Even if in connection with the description of the figure 17 and 18 is described as a manipulator 5a . 5b only the piece goods 2 each one row 1a or 1b taps and processed, so are also conceivable embodiments in which one of the manipulators 5a or 5b each piece goods 2 both rows 1a . 1b taps. Another possibility would be that one of the manipulators 5a or 5b a new additional row (not shown) within the grouping module 20 generated by the other manipulator 5b or 5a cargo 2 for further arrangement in a target position and / or target arrangement picks.

The schematic plan view of 19 shows a third embodiment. Here are two manipulators 5a . 5b so in the grouping module 20 arranged that their detection areas 4a . 4b in the transport direction TR are arranged one after the other and do not overlap or only partially overlap. The horizontal conveyor 6 is in the illustrated embodiment of two in the transport direction TR aligned adjacent horizontal conveyors 6a . 6b formed, but could also by a single continuous horizontal conveyor 6 be formed. While the first manipulator 5a essentially just additional rows 1 - 2 etc. generated created in the transport direction TR subsequent manipulator 5b from the over the transport facilities 3a . 3b incoming goods 2 and the general cargo 2 the additional within the Gruppiermoduls 20 created rows 1 - 2 etc. the desired location 12 according to the given positional scheme.

It can also be provided that the first manipulator 5a In the normal grouping operation, there is no task, but the detection area 4a of the first manipulator 5a in normal grouping operation is essentially a pure flow path. The first manipulator 5a is used in particular in the case of a fault in the subsequent operation, for example in the event of a fault in the subsequent palletizing or the like. In the event of a fault, there is the problem that there are still piece goods in an upstream shrink tunnel. These should be removed from the shrink tunnel, ie the shrink tunnel should be run empty to prevent damage to the cargo due to excessive heat. There is no or insufficient buffer area between the shrink tunnel and the grouping module 20 can exist through the first manipulator 5b from the general cargo delivered from the shrink tunnel due to empty running 2 at least one more additional parallel row are generated. This allows a larger number of piece goods 2 within the grouping module 20 can be arranged, which thus additionally forms or provides a buffer area.

After the fault has been rectified, the second manipulator can 5b first through the first manipulator 5a in at least one additional row 1 - 2 arranged piece goods 2 to create more layers before the new replenishment of piece goods 2 from the shrink tunnel at the grouping module 20 arrives.

In this way, it is easy to avoid collisions within the subsequent processing module affected by the malfunction, and the ongoing operation can be maintained at least until all packages have been removed from the upstream shrink tunnel. Since the supply of cargo to the shrink tunnel is only resumed when the fault of the subsequent processing module is safely resolved, there is a time lag until finished piece goods 2 from the shrink tunnel via the transport device 3 to the grouping module 20 reach. This time offset can be advantageous by the buffering of piece goods 2 within the grouping module 20 be compensated, since now this first by the first manipulator 5a in at least one additional row 1 - 2 buffered piece goods 2 for layer formation by the second manipulator 5b can be used.

The schematic views of 20 to 22 show a further flow of a method for dealing with in at least one row 1 one-by-one moving piece goods 2 by a corresponding handling device 10 , In this embodiment, a supply of piece goods takes place 2 to the grouping module 20 in two parallel rows 1a . 1b via a common transport facility 3 or via two parallel transport devices 3a . 3b , In the transport facilities 3a . 3b For example, it is about Horizontal conveyor, especially around belt or chain conveyor. In particular, the piece goods are 2 immediately consecutive in rows 1a . 1b uninterrupted and / or with a continuous transport speed v3 into a detection area 4 at least one manipulator 5 the handling device 10 transported. The coverage area 4 means in the present context, in particular the maximum and / or the respective program-controlled predetermined movement space of the manipulator 5 ,

The coverage area 4 or whose outer spatial boundary may be greater than the outer limits of the horizontal conveyor 6 pretend on their approximately horizontal top of the cargo 2 conveyed and / or by means of the manipulator 5 be positioned and / or moved. Usually, however, is the detection area 4 of the manipulator 5 the sensible range of motion, in which to be detected cargo 2 can be located and / or in which the abzusetzenden piece goods 2 can be positioned. The at least one manipulator 5 and the horizontal conveyor 6 form essential components of the grouping module 20 in which the arrangement of the piece goods 2 takes place according to a predetermined position scheme.

cargo 2 For the purposes of the present invention or the described embodiment may be, for example, individual items, packages or containers. Packages or containers can, for example, be shrink-wrap containers and / or strapping containers or the like, more, whereby usually several articles such as in particular containers, liquid and / or beverage containers are combined into containers.

The piece goods 2 can on the transport device 3 For example, continuously continuously in the transport direction TR to get promoted. Rows can be delivered, each containing the number of piece goods 2 include, for example, the formation of a layer of piece goods 2 needed for further processing. Such a series can be followed by further similar or shorter or longer rows, wherein, if necessary, distances can be present between successive rows, in particular greater than 10 cm. The distances and lengths of the respective rows are expediently based on the respectively desired layer pattern or on the processing speed of the manipulator used 5 of the grouping module 20 the handling device 10 or after the maximum movement speeds of the moving parts of the manipulator to be maintained for a long time during regular operation 5 , Equally conceivable, however, are endless rows 1 with a basically endless successive piece goods sequence, the long as in a detection area 4 of the manipulator 5 until a planned or unplanned plant shutdown occurs. If in the present context of gapless succession or of directly successive piece goods 2 the speech, this includes both the case of touching piece goods 2 as well as the case of the slightly spaced piece goods 2 - Especially smaller 10cm-. These cases may be random and / or due to small size deviations of the piece goods 2 etc. be due.

The transport device 3 or transport facilities 3a . 3b is / are for example at least one conveyor belt or at least one other suitable conveyor on which the piece goods 2 preferably (each) are transported in a single row, wherein between each directly successive piece goods 2 there is no or only a slight, possibly process-related and / or predetermined gap. In particular, the transport device can / can 3 or transport facilities 3a . 3b be formed by an endless circulating conveyor belt, an endless conveyor chain o. The like., So that so that the cargo 2 to the horizontal conveyor 6 of the grouping module 20 can be delivered and transported. The in series 1 on the transport device 3 located piece goods 2 thus run in a so-called closed formation F in the coverage area 4 of the at least one manipulator 5 one.

Within the grouping module 20 are in the present embodiment, two manipulators 5a . 5b arranged, which can be preferably controlled independently. Alternatively it can be provided that the two manipulators 5a . 5b can be controlled and operated synchronously via a control device (not shown).

The manipulators 5a . 5b are for clamping and / or positive and / or non-positive receipt of general cargo 2 within the coverage 4 trained and equipped. The from the manipulator 5 recorded general cargo 2 - ie usually in the formation F previously registered general cargo 2 - subsequently becoming differentiated from the rest in the formation F or the overall formation arranged piece goods 2 with the reference number 2 * designated.

For example, the manipulators grip 5a . 5b in each case at least one, preferably at least two or three successively arranged in a closed formation F incoming goods 2 . 2 * Separate these from the single-row formation F the piece goods 2 from and transfer each separated at least one piece goods 2 * or the separated group of two or three completely in Row arranged piece goods 2 * each in a target position and / or target orientation according to a predetermined position scheme for creating a position or partial position.

It can be provided that the cargo 2 * or the group of general cargo 2 * laterally opposite the incoming formation F on piece goods 2 is shifted and / or it can be provided that the cargo 2 * or the group of general cargo 2 * through the respective manipulator 5a . 5b in the transport direction TR from the formation F the piece goods 2 is spaced and / or that the cargo 2 * or the group of general cargo 2 * compared to the general cargo 2 the formation F is twisted or similar. Furthermore, the respective manipulator 5a . 5b the at least one registered piece goods 2 * also raise and possibly already on the horizontal conveyor 6 Piece goods arranged in target position 2 . 2 * or about piece goods 2 the series 1 exalt.

If in the present case or generally in the context of the present invention generalizing of a manipulator 5a . 5b the speech is, it may be specific to the transfer of the at least one piece goods 2 . 2 * in the target position P and / or target orientation provided part of the manipulator 5a . 5b for example, a tool head, a rapier head or the like. act, which is, for example, supported on movably mounted cantilever arms and stored, which cantilever arms in turn typically on a frame or frame o. The like. Can be mounted fixed to the frame. Such - also known as parallel kinematic arrangement - manipulator or manipulator arrangement allows the desired mobility of the gripper head (also: the manipulator 5 ), which is the piece goods 2 . 2 * capture, move, position, place, rotate, etc. in the desired manner to the respective target positions P and / or targeting of the piece goods 2 . 2 * to be able to approach. However, other suitable manipulator configurations are also conceivable, for example those with gantry robot guides or the like. These other manipulator configurations may optionally refer to single, multiple or all variant embodiments mentioned in the context of the present description of the drawings and / or the entire description of the invention.

The piece goods 2 of the ranks 1a . 1b be in the grouping module 20 on the horizontal conveyor 6 without interruption and with unchanged conveying speed v6 transported before, before positioning or detection by one of the manipulators 5a . 5b and usually again after reaching the respective target position and / or target arrangement.

In transport direction TR the grouping module 20 subordinate is, for example, a Vorgruppierung 21 arranged in which arranged as a location cargo 2 * be pushed together with suitable Zentierelementen (not shown) to a compact position. The compact layer can then be fed to the palletizing.

In the event of a fault in a subsequent processing module, for example a palletizer or the like. Often, it does not make sense to stop the procedural upstream modules immediately. For example, although the grouping module 20 upstream shrink tunnel for shrinking shrink film to Article compilations for the production of cargo in the form of containers in a timely manner are no longer supplied with article compilations. However, the shrink-wrapped article assemblies at the time of failure within the shrink tunnel still need to be transported out of the shrink tunnel to avoid overheating thereof which would result in product damage. For this reason, it can be particularly in a spatially close arrangement of shrink tunnel, grouping module 20 and palletizers without or with only short intermediate buffer sections or the like be useful, the layer formation within the Gruppiermoduls 20 not to stop immediately due to the fault in the subsequent processing module, but to delay it instead.

In particular, this is achieved by the feeding transport device 3 and / or the horizontal conveyor 6 be operated slower and the movement profile of the manipulators 5a . 5b is tuned accordingly, so that the desired arrangement of the piece goods 2 Delayed according to the predetermined position scheme. "Slower operated" or "delayed operation" means in this context that the transport speed after the onset of the disturbance is lower than before without disturbance. In particular, the slower, slower speed may assume a value that is less than 50% of the normal speed.

A "tact" of the manipulator preferably consists of a movement of the manipulator with a component in the transport direction TR the piece goods and a movement with a component opposite to the transport direction TR , You can also define a tact of the manipulator so that it begins with the detection of cargo, about a release of the same cargo until the end of the empty return (immediately after the delivery of the same piece goods) goes to the starting position and ends immediately before the capture of further cargo.

The schematic plan view of 20 shows, for example, a laterally staggered arrangement of parcel groups 7a . 7b through every manipulator 5a . 5b on the horizontal conveyor surface 6 , every general cargo group 7a . 7b comprising three piece goods 2 * , For non-delayed processing, the manipulators would 5a . 5b the subsequently picked piece goods 2 * in a target position accordingly 21 arrange, ie in a target position, in the transport direction TR behind the two general cargo groups 7a . 7b located. Closing the gaps between the piece goods 2 * the general cargo groups 7a . 7b and subsequently on the horizontal device 6 arranged piece goods 2 * would be following within the pre-grouping 21 be made, for example, in connection with the 1 to 16 has been described. This procedure has the advantage during operation that the manipulators 5a . 5b Cover minimized paths, which optimizes process times. In the delayed layer formation are the manipulators 5a . 5b controlled with a changed motion profile and the piece goods 2 * instead according to 22 in a target position Pa . pb arranged, which is essentially the arrangement of the piece goods 2 * in the finished position (not shown) relative to the piece goods 2 * the general cargo groups 7a . 7b equivalent.

According to an embodiment, not shown, the piece goods of the laterally arranged cargo groups 7a . 7b not part of the situation to be created in delay mode. Instead, the arrangement according to the position diagram will be described below on the transport facilities 3a . 3b supplied cargo, while the laterally arranged cargo groups 7a . 7b through the manipulators 5a . 5b again and again against the transport direction TR the horizontal conveyor 6 be moved to ensure that the parcel groups 7a . 7b on the horizontal conveyor 6 remain and not in the Vorgruppierung 21 be transferred. The general cargo groups 7a . 7b thus provide a buffer for piece goods, so to speak 2 * As soon as the shrink tunnel is empty, so that no further piece goods 2 in the shrink tunnel, the layer formation by the Gruppiermodul 20 also be stopped until the failure of the palletizer or similar. is fixed.

After the fault is fixed, the manipulators can 5a . 5b first within the general cargo groups 7a . 7b buffered piece goods 2 * to create more layers before the new replenishment of piece goods 2 from the shrink tunnel at the grouping module 20 arrives.

Even if related to the 20 to 22 an embodiment with two feeding transport devices 3a . 3b and two manipulators 5a . 5b is described, the possibilities presented here are also applicable to other embodiments in which piece goods 2 in at least one row 1 to at least one manipulator 5 be supplied.

Generally, one could consider the aspects to the 20 to 33 also describe as follows, which may be an independent invention here. This is a method for grouping piece goods to palletizable layers for subsequent arrangement on a pallet or the like, comprising the following steps: Articles or piece goods 2 be by means of a transport device 3 , For example by means of a horizontal conveyor, a horizontal conveyor 6 a grouping module 20 fed. The grouping module 20 includes at least one manipulator that detects supplied articles or piece goods and spends by moving or rotating in a target arrangement and / or target orientation and thus prepared according to a defined location scheme. The situation thus prepared is by means of a Gruppiermodul 20 palletized palletizer, where appropriate between the Gruppiermodul 20 and the palletizer further handling steps are necessary to the prepared within the Gruppiermoduls layer 12 ready for palletizing.

A malfunction can be caused for example by a collision of a palletizing head or a lack of intermediate layers or a lack of pallets. In the event of a fault, especially in the event of a malfunction of the palletizer, the speed of the transport device 3 and / or the horizontal conveyor 6 the Gruppiermoduls after the failure of the same reduced, at least during a period of time during the fault duration. In addition, a distance from not yet using the manipulator 5 manipulated cargo 2 , ie, from the transport device 3 incoming piece goods, to already manipulated piece goods 2 * by re-manipulating the same by means of the manipulator 5 be reduced.

In other words, the invention can also be described such that the manipulator 5 the piece goods 2 in the event of a fault in the transport direction TR moved faster than the transport device 3 and / or the horizontal conveyor 6 to be moved.

In this way, by the manipulator 5 a buffering of the piece goods 2 . 2 * on the horizontal conveyor 6 be made without the cargo 2 . 2 * after removal of the Disturbance must be manipulated again. In particular, the piece goods are 2 . 2 * during the disturbance already brought into the correct or intended target position and / or target orientation (Drehausrichtung) with respect to the proposed position scheme. By reducing the speed of the transport device 2 and / or the horizontal conveyor 6 becomes the distance of successive, finished layers 12 on the horizontal conveyor so to speak reduced.

Preferably, in such an embodiment, the horizontal conveyor 6 of Gruppiermoduls in the transport direction in about twice as long as the detection area 4 , ie working and working area of the manipulator 5 ,

The invention can also by means of a device 10 be realized, the controller is programmed to carry out the process.

In particular, it can be provided that the manipulator 5 cargo 2 a subsequently to be detected clock in the transport direction TR seen so close to the already manipulated cargo 2 * postpones that parts of the two bars or in extreme cases whole bars no distance from each other in the transport direction TR exhibit.

Instead of two manipulators 5 . 5b can one in the 20 to 22 illustrated device 10 also a manipulator 5 with two independently operable gripper heads 8th . 9 include. The following description can be found both on the 20 to 22 as well as on the 23 to 33 hold true. The two gripper heads 8th . 9 may be on a common part, such as a robotic arm, of the manipulator 5 be attached and together the mentioned movement with a movement component in the transport direction TR To run. The two gripper heads 8th . 9 In addition, they can each have gripping and / or turning via associated drives. In particular, one or more of the drives described below can be arranged at an end region of the common part. A first drive can rotate the gripper head 8th relative to the common part of the manipulator 5 and a second drive can rotate the gripper head 9 relative to the common part of the manipulator 5 be educated. Furthermore, a third drive for gripping piece goods with the gripper head 8th and a fourth drive for gripping packaged goods with the rapier head 9 be educated. Furthermore, a fifth drive may be provided to the gripper head 8th relative to the common part of the manipulator 5 move it linearly and for example from the rapier head 9 to space. Similarly, a sixth drive may be provided to the gripper head 9 relative to the common part of the manipulator 5 move it linearly and for example from the rapier head 8th to space. With these six different drives, it is possible to simultaneously by means of the two gripper heads 8th . 9 recorded piece goods 2 * independently rotate, raise, move and / or release.

Furthermore, it would be conceivable, the first and the second drive to a common drive for the rotations of both gripper heads 8th . 9 summarize and the respective registered piece goods 2 * to shoot together. This can be realized for example via a suitable transmission or the like. It would also be conceivable to combine the third and the fourth drive to a common drive for the gripping movements and the piece goods 2 * to grab together. This can also be realized via a suitable gear or the like. In addition, it would be conceivable to combine the fifth and the sixth drive to form a common drive for the displacement movements and the registered piece goods 2 * move together. This can also be realized via a suitable gear or the like.

The schematic plan views of 23 to 33 show an alternative flow of a method for dealing with in at least one row 1 one-by-one moving piece goods 2 by a corresponding handling device 10 , Also in this embodiment, a supply of piece goods takes place 2 to the grouping module 20 in two parallel rows 1a . 1b via a common transport facility 3 or via two parallel transport devices 3a . 3b , In this case is a manipulator 5 with two gripper heads 8th . 9 provided, wherein the gripper heads 8th . 9 can preferably be controlled independently of each other. The gripper heads 8th . 9 However, as shown above, may be arranged on a common part of a manipulator and moved together by this.

Within the pre-grouping 21 is an already completed and compressed within the Vorgruppierung compact location 13 - 1 shown. 24 to 33 show the creation of a second layer 12 - 2 according to the same layout as situation 13-1 , where the two gripper heads 8th . 9 in the first method steps substantially synchronously in each case three piece goods 2 of the ranks 1a . 1b tapping and turning 90 degrees about a vertical axis, the captured piece goods 2 * to a target position P1 . P2 and / or target arrangement on the horizontal conveyor 6 spend ( 26 ). Then grab the two gripper heads 8th . 9 again three piece goods each 2 of the ranks 1a . 1b and spend them by a movement in the transport direction TR with lateral offset in one target position P3 . P4 and / or target arrangement on the horizontal conveyor 6 ( 28 . 29 ). To generate the lateral offset, the gripper heads move 8th . 9 no longer in sync, instead, the two gripper heads 8th . 9 led apart apart and thus an increased distance between each by a gripper head 8th . 9 recorded groups of general cargo 2 * generated. Due to the lateral offset are the piece goods 2 * in the target positions P3 . P4 not in flight with the in formation F incoming goods 2 arranged.

In 30 you can see that in the target position P1 . P2 . P3 . P4 and / or target orientation arranged piece goods 2 * through the horizontal conveyor 6 in the transport direction TR be moved so that the relative arrangement to the subsequent piece goods 2 The series remains the same - as long as they are not affected by a manipulator 5a . 5b recorded and moved to a new position. For example, between the horizontal conveyor 6 and the pre-grouping 21 a transverse to the transport direction TR extending, upwardly swingable conditioning beams 25 etc. be provided. The one in the target position P1 . P2 . P3 . P4 and / or target alignment arranged and on the horizontal conveyor 6 further moving piece goods 2 * are attached to the investment beam 25 pushed, with the first in the transport direction TR trained gaps L between the goods 2 * a situation to be created 13 be eliminated.

In the now following process step, the gripper heads move 8th . 9 also out of sync. Instead, the gripper head captures 9 a group of three piece goods 2 * the series 1a and spend this to complete a second layer 12-2 into a target position P5 and / or target arrangement. At the same time the gripper head detects 8th a group of three piece goods 2 * the series 1b , However, these are no longer for the second location 12-2 needed. Instead, the rapier head leads 8th together with the registered general cargo 2 * the series 1b makes a 90 degree turn and spends it to a target position P6 and / or target arrangement. The one in the target position P6 arranged piece goods 2 * are already part of a subsequently assembled third layer (not shown).

The thus prepared second layer 12-2 (see 33 ) can now in the Vorgruppierung 21 transferred there and pushed together to the finished position (see also Lage 13-1 in 23 ), in particular by means of second push beams, as described in connection with the description of 1 to 16 have been described. Meanwhile, in the grouping module 20 more general cargo 2 for creating the third layer by the gripper heads 8th . 9 of the manipulator 5 corresponding to the horizontal conveyor 6 to be ordered.

The third layer to which already the piece goods 2 * at the target position P6 and / or targeting is created differently than the second layer below 12-2 , The in the target position P6 and / or targeting shipped cargo 2 * according to 33 are subsequently moved to the left, as seen in the transport direction, so that they are subsequently arranged in a target position and / or target orientation, that of the above-described target position P2 and / or targeting on the horizontal conveyor 6 corresponds (cf. 27 and 33 ). In the following cycle, the gripper heads are used 8th . 9 each group comprising three piece goods 2 * captured and spent at target positions and / or targeting the target positions P1 and P3 and / or target orientations (cf. 29 and 33 ). In a final step, the piece goods compilations for the target positions P5 and P4 and / or targeting manipulated and arranged accordingly (see. 33 ). The third layer (not shown) is now finished and the manipulator 5 can with the creation of another layer according to the 23 ff. continue.

Instead of a manipulator 5 with two independently operable gripper heads 8th . 9 could in this context also two independently controllable manipulators 5 be used. In some process steps it is provided that both manipulators 5 each piece goods 2 to create a location 12-2 arrange, while at least one further method step provides that one of the two manipulators 5 cargo 2 to complete one layer while the other manipulator 5 already piece goods 2 captured for a new situation.

Even if related to the 23 to 33 an embodiment with two feeding transport devices 3a . 3b and a manipulator with two gripper heads 8th . 9 is described, the possibilities presented here are also applicable to other embodiments in which piece goods 2 in at least one row 1 to at least one manipulator 5 with two gripper heads 8th . 9 or at least two manipulators 5 be supplied.

Generally, one could consider the aspects to the 20 to 33 also describe as follows, which may be an independent invention here. This is a method for grouping piece goods to palletizable layers for subsequent arrangement on a pallet or the like, comprising the following steps: Articles or piece goods 2 be by means of a transport device 3 , for example by means of a Horizontal conveyor, a horizontal conveyor 6 a grouping module 20 fed. The grouping module 20 includes at least one manipulator that detects supplied articles or piece goods and spends by moving or rotating in a target arrangement and / or target orientation and thus prepared according to a defined location scheme. The situation thus prepared is by means of a Gruppiermodul 20 palletized palletizer, where appropriate between the Gruppiermodul 20 and the palletizer further handling steps are necessary to the prepared within the Gruppiermoduls layer 12 ready for palletizing. In particular, by the manipulator 5 at the same time, ie within one cycle, at least two piece goods 2 * or at least two groups of general cargo 2 * detected, wherein the at least two piece goods 2 * or at least two groups of piece goods 2 * are spent in target positions and / or target arrangements, which are subsequently assigned to different location formations. In particular, a first of the piece goods serves 2 * or a first group of general cargo 2 * finishing a first layer. By contrast, with the introduction of a second piece good 2 * or a second group of general cargo 2 * the formation of a subsequent layer formation has already begun.

The invention has been described with reference to a preferred embodiment. However, it will be apparent to those skilled in the art that modifications or changes may be made to the invention without departing from the scope of the following claims.

LIST OF REFERENCE NUMBERS

1, 1a, 1b

line

1-2, 1-3

additional row

2/2 *

cargo

3, 3a, 3b

transport means

4

detection range

5, 5a, 5b

manipulator

6

Horizontal conveyor

7a, 7b

cargo group

8th

gripper head

9

gripper head

10

handling device

12, 12-2

location

12a, 12b

sublayer

13

compact location, location

20

grouper

21

preliminary grouping

25

conditioning bar

F

formation

L

gap

P, P1, P2, P3, P4

target position

P5, P6, Pa, Pb

target position

TR

transport direction

v3

transport speed

v6

conveyor speed

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• EP 1465101 A2
• US 5123231 A [0006]
• DE 102016206639 [0042]

Claims (16)

Method for handling piece goods (2) moving in succession in at least one row (1), which are transported to a detection area (4) of at least one manipulator (5), wherein in at least one manipulation step in the detection area (4) at least two transported piece goods (2) of the at least one row (1) clamped and / or positively and / or positively detected, of subsequent piece goods (2) of the at least one row (1) spatially separated and brought into a defined first relative target position (P1) and / or target orientation with respect to subsequent piece goods (2) of the at least one row (1) by rotation and / or displacement, - wherein the at least two detected piece goods (2) are transferred to the defined first relative target position (P1) and / or target orientation, which is laterally offset from an alignment of the piece goods (2) following in at least one row (1), - In at least one further manipulation step at least one cargo (2) of the at least one row (1) and / or of the at least two in the first relative target position (P1) and / or target orientation transferred piece goods (2) by clamping and / or force - And / or positively detected and from the subsequent cargo (2) of the at least one row (1) and / or the at least two in the first relative target position (P1) and / or target orientation transferred piece goods (2) spatially separated and under rotation and / or shifting into further defined relative target positions (P2) and / or target orientations with respect to subsequent piece goods (2) of the at least one row (1) and / or the at least one piece good transferred to the first relative target position (P1) and / or target orientation (2 ) or the at least two piece goods (2) transferred to the first relative target position (P1) and / or target orientation are brought; - Wherein a defined number of manipulated cargo (2) forms a stackable and / or palettable layer formation (12) or sub-layer and / or a precursor to such a layer formation (12) or sub-layer, which conveys in a transport direction (TR) and others Handling steps is supplied. Method according to one of the preceding claims, in which the manipulator (5), within a defined manipulation step, respectively captures at least one piece good (2) from which at least one row (1) can be severed and spent in the respective relative target position and / or target orientation and / / or in which the manipulator (5) within a defined manipulation step respectively capture at least two piece goods (2), separate them from the at least one row (1) and into the respective relative target position and / or target orientation or respectively different relative target positions and / or target orientations can spend. Method according to one of the preceding claims, in which the movement of piece goods (2) into the defined first relative target position (P1) and / or target orientation and into further relative target positions (P2) and / or target orientations takes place successively in terms of time. Method according to one of Claims 1 to 3 in which, in a further manipulation step, at least one of the at least two packaged goods (2) transferred into the laterally offset first relative target position (P1) and / or target orientation is detected by the manipulator (5) and moved into a further relative target position and / or target arrangement (P2). is transferred. Method according to Claim 1 or 2 in which the transfer of general cargo (2) into the defined first relative target position (P1) and / or target orientation and into further relative target positions (P2) and / or target orientations takes place in terms of time at least in sections simultaneously and / or in time-overlapping phases , Method according to Claim 5 in which the manipulator (5) within a defined manipulation step respectively seize at least two piece goods (2) of at least two parallel rows (1), from which at least two parallel rows (1) conveyed in parallel in the same transport direction (TR) separate and can each spend in different relative target positions (P1 and P2). Method according to Claim 5 or 6 in which the manipulator (5) has at least two gripper heads (8, 9) which are rotatable independently of one another about parallel vertical axes of rotation and in each case with different piece goods (2) which it has detected from at least two parallel rows (1) Can spend target positions, wherein the at least two rotatable gripper heads (8, 9) each bring the thus detected piece goods (2) in the at least two different target positions in variable and / or different target orientations and / or in which the at least two independently rotatable Gripper heads (8, 9) of the manipulator (5) are variable in their distances from one another, in particular in a time interval between detection of the cargo (2) and discontinuation of the cargo (2) in the respective target positions and / or target orientations. Method according to Claim 7 in which the rotational movement and the change in the distance between the at least two piece goods (2) detected by the respective gripper heads (8, 9) takes place simultaneously, in particular wherein the change in the Distance between the at least two piece goods (2) and the rotational movements of the respective gripper heads (8, 9) of the manipulator (5) are coupled. Method according to one of Claims 1 to 8th in which a stackable and / or palettable layer formation (12) or partial layer is separated by at least two piece goods (2) separated from the at least one row (1) and transferred to the first relative target position (P1) and / or target orientation, as well as by further in Relative target positions (P2) and / or target orientations spent cargo (2) is formed. Device for handling in at least one row (1) one after the other moving piece goods (2), comprising at least one manipulator (5) for the piece goods (2), - At least one transport device (3) via which in at least one row (1) successively arranged piece goods (2) in a detection range (4) of the at least one manipulator (5) are transportable, - Wherein the at least one manipulator (5) for clamping and / or positive and / or positive receiving at least one piece (2) and for separating and transferring the at least one piece (2) under rotation and / or displacement in a relative target position and / or targeting is designed, - Wherein the at least one manipulator (5) for clamping and / or positive and / or positive receiving at least two cargo (2) of at least one row (1) and for spatially separating and transferring these at least two cargo (2) under rotation and / or displacement in a first relative target position (P1) and / or target orientation is formed, wherein the first relative target position (P1) laterally offset to an alignment of at least one row (1) subsequent piece goods (2) is arranged - wherein by means of the at least one manipulator (5) subsequently at least one cargo (2) of the at least one row (1) and / or of the at least two in the first relative target position (P1) and / or target orientation transferred piece goods (2) clamping and / or positively and / or positively detected and spatially separated from the at least one row (1) and / or from the at least two in the first relative target position (P1) and / or target orientation cargo (2) and under rotation and / or shifting into at least one further defined relative target position (P2) and / or target alignment with respect to subsequent piece goods (2) of the at least one row (1) and / or the at least one piece goods transferred to the first relative target position (P1) and / or target orientation ( 2) or the at least two piece goods (2) transferred into the first relative target position (P1) and / or target orientation can be brought, - By means of the at least one manipulator (5) a stackable and / or palettable layer formation (12) or sub-layer and / or a precursor to such a layer formation (12) or partial layer from a defined number of manipulated piece goods is formed in a Transport direction (TR) is conveyed and further handling steps can be fed. Device after Claim 10 , wherein the manipulator (5) at least one gripper head (8, 9) for detecting at least one piece goods (2) and / or for detecting the at least two piece goods (2) and / or wherein the at least one gripper head (8, 9) to a vertical axis is rotatably mounted on a rotary joint, and wherein the manipulator (5) the piece goods (2) by means of at least one gripper head (8, 9), separated from the at least one row (1) and in the relative target positions and / or targeting. Device after Claim 9 or 10 in which the manipulator (5) for detecting in each case at least one article (2) within a defined manipulation step and for its separation from the at least one row (1) and / or from the at least two to the first relative target position (P1) and and / or target orientation transferred piece goods (2) and is designed for shipment to the respective relative target position and / or target orientation and / or in which the manipulator (5) for detecting at least two piece goods (2) within a defined manipulation step and for their separation is formed by the at least one row (1) and for movement into respectively different relative target positions and / or target orientations. Device after Claim 10 in which the manipulator (5) for detecting in each case at least two piece goods (2) of at least two parallel rows (1) within a defined manipulation step and for separating the two piece goods (2) from the at least two parallel in the same transport direction (TR ) conveyed rows (1) and is designed for shipment in each case different relative target positions and / or target orientations. Device after Claim 13 in which the manipulator (5) has at least two gripper heads (8, 9) rotatable independently of one another about parallel vertical axes of rotation, with which each piece goods (2), which it can grasp from at least two parallel rows (1), are different Can spend target positions, wherein the at least two rotatable gripper heads (8, 9) in each case so detected piece goods (2) in the at least two different target positions (P1, P2) in variable and / or respectively different Target orientations can bring and / or in which the at least two independently rotatable gripper heads (8, 9) of the manipulator (5) are variable in their distances from each other, in particular in a time interval between detection of the cargo (2) and their settling in the respective target positions (P1, P2) and / or in which the rotational movements and the changes in the distance between the at least two of the respective gripper heads (8, 9) detected piece goods (2) can be carried out simultaneously, in particular wherein the change in the distance between the at least two piece goods (2) and the rotational movements of the respective gripper heads (8, 9) of the manipulator (5) are coupled. Device according to one of Claims 10 to 14 in which the at least one manipulator (5) or parts of the at least one manipulator (5) is / are formed by a parallel kinematic robot. Method for handling piece goods (2) moving in succession in at least one row (1), which are transported to a detection area (4) of at least one manipulator (5), wherein in at least one manipulation step in the detection area (4) at least two transported piece goods (2) of the at least one row (1) clamped and / or positively and / or positively detected, of subsequent piece goods (2) of the at least one row (1) spatially separated and brought into a defined first relative target position (P1) and / or target orientation with respect to subsequent piece goods (2) of the at least one row (1) by rotation and / or displacement, - wherein the at least two detected piece goods (2) are transferred to the defined first relative target position (P1) and / or target orientation, which is laterally offset from an alignment of the piece goods (2) following in at least one row (1), - In at least one further manipulation step at least one cargo (2) from the at least two in the first relative target position (P1) and / or target orientation transferred cargo (2) clamped and / or force and / or positively detected and from the subsequent cargo (2) the at least two packaged goods (2) transferred to the first relative target position (P1) and / or target orientation are spatially separated and brought into a further defined relative target position (P2) and / or target orientation with rotation and / or displacement; - Wherein a defined number of manipulated cargo (2) forms a stackable and / or palettable layer formation (12) or sub-layer and / or a precursor to such a layer formation (12) or sub-layer, which conveys in a transport direction (TR) and others Handling steps is supplied.

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