REMOVAL / DOWN DEVICE FOR A TRANSPORTATION DEVICE AND METHOD FOR REMOVAL OR DOWNLOAD OF AN ITEM FROM / ONTO A TRANSPORTATION DEVICE

Abstract

A removal / placement device (10) for a transport device (20), wherein the removal / placement device (10) has a gripper (14) for removing or placing at least one object (4, 5, 6, 7) from / onto the transport device (20), which serves to transport objects (4, 5, 6, 7) in a predetermined transport direction (21), and a control device (30) for controlling the gripper (14) by means of a movement command, wherein the movement command is divided into different areas (B1, B2; B11, B21) and the areas include an area (B1; B11) in which the gripper (14) is moved fully synchronously with a movement of the transport device (20), and an area (B2;B21) include, in which desynchronization takes place, wherein the movement command defines which section of the movement command the gripper (14) will move fully synchronously with the movement of the transport device (20) and from when the desynchronization is started, and wherein the movement command, specifying a percentage of the total distance traveled with the movement command (S1 + S2), defines accordingly which section (S1) of the movement command the removal / placement device (10) will move fully synchronously with the movement of the transport device (20) and from when the desynchronization is started.;

Description

[0001] The present invention relates to a removal / placement device for a transport device and a method for removing or placing an object from / onto a transport device.

[0002] In product manufacturing, items or the product itself are transported as needed using a conveyor belt, which can be an endless belt. Depending on the application, the items or product are transported one after the other in a row, with the direction of travel in mind.

[0003] At processing stations where, for example, an item is picked up from the conveyor belt to attach a component, or to package the product or item, etc., the products or items must be removed individually from the conveyor belt. It is also possible that, for example, a product in its packaging must be placed on the belt.

[0004] The problem here, however, is that incorrect removal or placement of a product or item can lead to collisions with other products or items transported on the conveyor belt. This can damage the products or items and / or cause them to shift on or off the conveyor belt, resulting in errors in the production process and consequently production downtime.

[0005] Therefore, the object of the present invention is to provide a removal / placement device for a transport device and a method for removing or placing an object from / onto a transport device, with which the aforementioned problems can be solved. In particular, a removal / placement device for a transport device and a method for removing or placing an object from / onto a transport device are to be provided, in which downtimes of the transport device caused by the removal or placement of the object are avoided and the time for removing or placing an object is optimized as far as possible.

[0006] This problem is solved by a removal / placement device for a transport device according to claim 1. The removal / placement device comprises a gripper for removing or placing at least one object from / onto the transport device, which serves to transport objects in a transport direction, and a control device for controlling the gripper by means of a movement command, wherein the movement command is divided into different areas and the areas comprise an area in which the gripper is moved fully synchronously with a movement of the transport device, and an area in which desynchronization occurs.

[0007] The picking / placing device ensures that both the picking and placing of an item on / from the transport system are designed in such a way that neither the picking nor the placing of the item causes any downtime. This prevents production losses. Consequently, the throughput of a production plant in which the transport system is used can be optimized.

[0008] Furthermore, when a single or one fewer movement command is used to remove or place an item in a pick-and-place system, the time required for this process is significantly optimized. This is because the calculations required by a control unit for a movement command are eliminated, thus saving time. Another reason is that eliminating a single command allows for a higher pick-and-place speed, as there are always speed drops between the transitions of two movement commands. For these two reasons, the output of a production plant using the aforementioned pick-and-place system increases.

[0009] Using only a single movement command, or one fewer than before, to remove or place an item has the additional advantage of simplifying the commissioning of the removal / placement system compared to previous versions. This significantly reduces the effort required to set up the removal / placement system, thereby lowering the commissioning costs.

[0010] Advantageous further embodiments of the removal / storage device are specified in the dependent patent claims.

[0011] In the case of the removal / placement device, the movement command can define, by specifying a percentage of the total distance covered by the movement command, which part of the movement command the gripper will move fully synchronously with the movement of the transport device and from when the desynchronization is started.

[0012] In the case of the removal / placement device, the movement command may include that the transport device is designed to transport the items at a constant or variable speed.

[0013] The removal / placement device may also include a holding element for holding an actuating element, at the end of which the gripper is arranged, wherein the actuating element is movably mounted on the holding element or is variable and / or the holding element is movable.

[0014] The previously described removal / placement device can be part of a production plant for manufacturing items, which may also include a transport device for moving the items either randomly or in a row. This transport device can operate at a constant or variable speed, and / or it can be a conveyor belt. Furthermore, the control device may also be designed to control the production plant and / or the transport device.

[0015] The problem is further solved by a method for removing or placing an object from / onto a transport device according to claim 8. The method comprises the steps of: removing or placing, with a gripper of a removal / placement device, at least one object from / onto the transport device, which transports the objects in a transport direction, and controlling, with a control device, the gripper by means of a movement command, wherein the movement command is divided into different areas and the areas comprise an area in which the gripper is moved fully synchronously with a movement of the transport device, and an area in which desynchronization occurs.

[0016] The procedure achieves the same advantages as previously mentioned in relation to the withdrawal / deposit facility.

[0017] Advantageous further embodiments of the method are specified in the dependent patent claims.

[0018] In this procedure, the movement command can be defined by specifying a percentage of the total distance covered by the movement command, indicating which part of the movement command the gripper will move fully synchronously with the movement of the transport device and from when the desynchronization begins.

[0019] The movement command can also include the transport device transporting the items at a constant speed.

[0020] Other possible implementations of the invention also include combinations of features or embodiments described previously or subsequently with regard to the exemplary embodiments, even if not explicitly mentioned. In such cases, the person skilled in the art will also add individual aspects as improvements or additions to the respective basic form of the invention.

[0021] The invention is described in more detail below with reference to the accompanying drawing and by means of exemplary embodiments. The drawing shows:

[0022] Fig. 1 a highly simplified partial side view of a production plant according to a first embodiment;

[0023] Fig. 2 another highly simplified partial side view of the production plant according to the first embodiment;

[0024] Fig. 3 another highly simplified partial side view of the production plant according to the first embodiment;

[0025] Fig. 4 another highly simplified partial side view of the production plant according to the first embodiment in the event of a fault;

[0026] Fig. 5 a flowchart of a method for removing or placing an item from / onto a transport device according to the first embodiment;

[0027] Fig. 6 a highly simplified partial side view of a production plant according to a second embodiment;

[0028] Fig. 7 a highly simplified partial side view of the production plant according to a third embodiment; and

[0029] Fig. 8 Another highly simplified partial side view of the production plant according to a third embodiment.

[0030] In the figures, identical or functionally equivalent elements are provided with the same reference symbols unless otherwise specified.

[0031] Fig. Figure 1 shows a production plant 1 , in which items 4 , 5 , 6 , 7 to be processed or produced. The production plant 1 includes a removal / deposit facility 10 , a transport facility 20 and a control unit 30 to issue multiple movement commands 31The retrieval / deposit facility 10 This in turn includes a holding element 11 with a coupling element 12 , an actuator 13 and a grabber 14 . On the transport device 20 are the items 4 , 5 , 6 , 7 The transport device is arranged in a row, spaced apart from each other by a distance A. 20 is in one direction of transport 21 movable at speed V1. Speed ​​V1 is typically a constant speed. However, speed V1 can also be variable. The entire removal / placement device 10 or just their gripper 14 with actuator 13 is perpendicular to the direction of transport 21 movable in at least two opposite directions at a speed V2, as in Fig. 1 indicated by an arrow.

[0032] The production plant 1 in Fig. 1 can be used, for example, in the production of end products such as vehicles, furniture, household goods, semiconductors, etc. Here, objects are 4 , 5 , 6 , 7 in the form of components of the final product for attachment to the final product or the final product itself, or final products in a packaging assembly with the transport equipment 20 transported. The items 4 , 5 , 6 , 7 However, they can also represent packaging into which one or more end products or other parts are to be placed. The end products or other parts are also objects. The transport equipment 20It can be designed as a conveyor belt that circulates continuously. The conveyor belt can either circulate in a circle in one plane or be deflected from a first plane to a second plane via a first deflection pulley, in which the conveyor belt runs in a different direction than before, in order to be deflected back to the first plane via at least one further deflection pulley.

[0033] The control unit 30 controls the production plant 1 The control unit 30 can be used instead of controlling the entire production plant 1 even just the removal / deposit facility 10 and the transport equipment 20 control. However, it is also possible that the control unit 30 only the removal / deposit device 10 controls and thereby measures the speed of the transport device. 20 from a recording device 40taken into account or the speed of the transport device 20 from another device, in particular a superior, secondary or subordinate control device, or a storage device, etc.

[0034] In Fig. 1 is the coupling element 12 at one end of the retaining element 11 arranged. The coupling element 12 couples the holding element 11 with the actuator 13 , so that the rod-shaped retaining element 11 essentially perpendicular to the rod-shaped actuating element 13 is arranged at one end of the actuator. 13 is the gripper 14 arranged. The actuating element 13 and thus the gripper 14 are connected to the coupling element 12 It is mounted on a movable bearing. This allows the adjusting element to be adjusted. 13 and thus the gripper 14 towards the transport facility 20and those in the direction of transport 21 moving objects 4 , 5 , 6 , 7 to be moved, as from Fig. 1 and Fig. 2 is evident. Here, the actuating element 13 and thus the gripper 14 transverse, especially perpendicular, to the direction of transport 21 moved. The movement can be a translational movement, as with arrow V2 in Fig. 1 and Fig. 2 is shown. However, the movement can also include arc-shaped movements, etc. The exact movement in terms of speed and path or distance is determined by movement commands. 31 the control unit 30 determined.

[0035] In the position in Fig. 2. The gripper can 14 the object 4 grasp and from the transport device 20 and thus out of the series of objects 4 , 5 , 6 , 7on the transport device 20 remove. The actuator is used for this purpose. 13 and thus the gripper 14 after grasping the object 4 back to the position of Fig. 1 to move, as in Fig. 3 shown. The object is shown. 4 with the grabber 14 first move along a line S1. The line S1 corresponds to the height of the objects. 4 , 5 , 6 , 7 or the maximum expected height of the items 4 , 5 , 6 , 7 The gripper moves along track S1. 14 the object 4 fully synchronized with the movement of the transport device 20 in the direction of transport 21 The gripper only moves along a path S2. 14 the object 4 at a speed other than the speed V1 of the movement of the transport device 20.

[0036] Thus, the control unit 30 one with the transport equipment 20 synchronous procedure, which involves tracking and grasping the objects 4 , 5 , 6 , 7 on the transport device 20 includes. During the transport operation with the transport equipment 20 In synchronous processes, several movements overlap. This is achieved through movement commands. 31 defined movement path, for example along the lines S1 and S2, and the resulting movements of the kinematics in the form of the removal / placement device 10 are transported at speed V1 20 superimposed.

[0037] At the in Fig. 1 to Fig. In the 3 variants shown, it is possible to start a movement command with the movement commands. 31 from the control unit 30A desynchronization process, in which synchronization is reduced, is initiated and ends with the completion of the movement command. Therefore, due to the desynchronization along the paths S1 and S2, the velocity V2 can be variable, i.e., not constant. In such a case, this occurs after the first interpolation cycle, i.e., when the object is traversed along path S1 during removal and path S2 during placement. 4 , no longer full synchronization between the movements of the kinematics in the form of the gripper 14 and, if applicable, the actuator 13 the removal / deposit facility 10 and the speed V1 of the transport device 20 present. Consequently, the distance A between the objects is 4 , 5 , 6 , 7 chosen to be large enough to prevent a collision between the objects. 4 , 5 , 6 , 7comes, which as an example through a marking 25 regarding the items 4 , 5 in Fig. Figure 4 shows that such a collision represents a fault in the control unit's operation. 30 that is and should be avoided.

[0038] Fig. Figure 5 illustrates a procedure for removing or placing an item. 4 or 5 or 6 or 7 from / on a transport device 20 at the production plant 1 The procedure is carried out with the control unit. 30 controlled, which, depending on the need, issue movement commands. 31 to the dispensing / depositing facility 10 and / or at least the gripper 14 spends.

[0039] Therefore, after the start of the process at step S1, either the empty gripper 14 to the transport equipment 20 approached or an object 4with the grabber 14 grabbed and the one gripped by the grabber 14 grasped object 4 with the grabber 14 to the transport equipment 20 drove up.

[0040] In step S2, it is either recorded whether the gripper 14 in the case of an item to be removed 4 for the removal of the item 4 from the transport facility 20 correctly at the transport device 20 is arranged. Or, in step S2, it is recorded whether the gripper 14 with the object 4 for storing the item 4 on the transport device 20 correctly at the transport device 20 The flow is arranged as follows: If the answer at step S2 is NO, the flow returns to step S1. However, if the answer at step S2 is YES, the flow continues to step S3.

[0041] In step S3, the gripper 14either for the removal of the item 4 from the transport facility 20 to the object 4 approached along the S2 and S1 lines and the object 4 gripped with the gripper. Or the gripper 14 will be with the object 4 for storing the item 4 on the transport device 20 along the S2 and S1 lines as far as the transport facility 20 driven up so that the grabber 4 the object 4 release and place it on the transport device at the designated location as desired. 20 can be remote.

[0042] In the subsequent step S4, the gripper 14 either together with the item 4 from the transport facility 20 They drove away along lines S1 and S2. Or the grabber. 14 now drives without the one on the transport device 20discarded item 4 again along routes S1 and S2 from the transport facility 20 away.

[0043] In the subsequent step S5, the gripper moves 14 with or without object 4 The flow then returns to its starting position. After that, it goes back to step S1 and the process can begin again.

[0044] Depending on the application, the procedure, especially with regard to steps S1, S2 and S5, can be adapted to the specific application and thus designed differently than previously described.

[0045] According to a modification of the first embodiment, it is possible, in addition to or as an alternative to the preceding variant, to insert fully synchronous intermediate points from which the movement of the transport device 20 and the kinematics in the form of the gripper 14 and, if applicable, the actuator 13the removal / deposit facility 10 The process is fully synchronous. Each inserted intermediate point corresponds to a separate movement command. 31 Therefore, the process for removing or placing something in this case involves at least two movement commands. 31 Thus, a movement command can be initiated again. 31 from the control unit 30 A desynchronization process was started and ended with the movement command. 31 to be completed. Regarding the removal of the item, the fully synchronous intermediate points are at step S4 of the process. Fig. 5 illustrated procedures are inserted. With regard to placing the object, the fully synchronous intermediate points are inserted at step S3 of the procedure described in Fig. 5 illustrated procedures are inserted. Thus, the removal or placement of the items is 4 , 5 , 6 , 7using at least two movement commands each 31 the control unit 30 controlled.

[0046] In both the previously described embodiment and its modification, the production plant 1 For example, 82 products are produced per minute.

[0047] This prevents the kinematics from being shaped like the gripper. 14 and, if applicable, the actuator 13 the removal / deposit facility 10 fully synchronized with the movement of the transport device 20 must move upwards to avoid collisions with the other objects 5 , 6 , 7 to avoid this. The same applies to product placement or placing an object. 4 This avoids the kinematics being shaped like the gripper. 14 and, if applicable, the actuator 13 the removal / deposit facility 10after the item has been placed 4 on the transport device 20 must exit the packaging fully synchronously before synchronization with the movement of the transport device is achieved. 20 can be dismantled.

[0048] Fig. Figure 6 shows a production plant 2 according to a second embodiment. The production plant 2 It is largely built in the same way as the production plant. 1 as described in the first embodiment. Therefore, only the differences between the production plant are described below. 2 according to the second embodiment and the production plant 1 as described in the first embodiment.

[0049] In the present embodiment, after grasping to remove or after placing the object down, 4 on the transport device 20 , with the grabber14 a movement command 32 the control unit 30 executed. This one movement command 32 includes in Fig. Example 6 illustrates a first area B1 and a second area B2. Thus, one movement command 32 divided into different areas. In area B1 of the movement command 32 The removal / deposit facility 10 or the gripper 14 fully synchronized with the movement of the transport device 20 procedure. In contrast, area B1 of the movement command 32 Used for desynchronization, i.e., for reducing the synchronization between a movement of the transport device 20 and the retrieval / deposit facility 10 or the gripper 14 .

[0050] The first area B1, which can also be called the fully synchronous area, includes information on the processing level of the movement command up to which point. 32 The second area, B2, which can also be called the desynchronization area, specifies the stage at which the movement command is processed. 32 The desynchronization process is complete.

[0051] This involves the subdivision of the movement command. 32 into areas B11, B21 not at the movement commands 32 specified. Instead, each movement command is based on 32 to desynchronize or corresponds, for example, to a storage device of the control unit 30The stored desynchronization configuration can also be used as a predefined movement profile during picking or putting to desynchronize the gripper's movements. 14 and the movement of the transport equipment 20 The desynchronization configuration can be reconfigured at any time with a second command. This second command can also be issued by the control unit. 30 will be issued.

[0052] The control unit 30 This leads, firstly, to the interpolation of the movement command. 32 through and monitors this process in order to initiate desynchronization at the required point. In other words, the control unit 30 This leads, firstly, to the calculation or interpolation for the value in the movement command. 32 precisely contained methods of the gripper 14in the room according to the desynchronization configuration and monitors the gripper. 14 and / or the execution of the movement command 32 , in order to start the desynchronization at the required point.

[0053] The control unit 30 This requires the interpolation and management of the single movement command. 32less time than is required for interpolating and managing multiple movement commands. Another reason for the reduced movement command time is that when interpolating multiple movement commands, which are processed either sequentially or partially overlapping, speed drops can occur at the transitions between the individual commands. While one movement command gradually decreases its speed, the next movement command, in the case of partial overlap, gradually increases its speed. This results in speed drops during the overlap. Conversely, if only one movement command or one fewer movement command can be used, a higher movement path speed is now possible where the speed drop due to the overlap previously occurred.

[0054] Thus, the movement command includes 32 the control unit 30an area B1, which is used for the fully synchronous operation of the gripper 14 is used and another area B2 which is used for desynchronization. It is for the control unit. 30 It is no longer necessary to command additional fully synchronous movement command sets, which is more than one movement command. 31 which has consequences.

[0055] Thus, it is possible to avoid commanding or ordering a procedure to additional fully synchronous intermediate points, as is necessary in the modification of the first embodiment.

[0056] In the variant of the present embodiment, the production plant can be used 2 For example, 86 products can be produced per minute, which represents a significant increase in production compared to the previous production plant. 1 according to the first embodiment.

[0057] Fig. 7 shows a production plant3 according to a third embodiment. The production plant 3 It is largely built in the same way as the production plant. 1 according to the first embodiment or the production plant 2 as described in the second embodiment. Therefore, the differences between the production plant and the production plant are described below. 3 according to the third embodiment and the production facilities 1 , 2 as described in the first and second exemplary embodiments.

[0058] As in the second embodiment, in the present embodiment, after grasping to remove or after placing the object, 4 with the grabber 14 a movement command 33 the control unit 30 executed. This movement command 33 includes in Fig. Example 7 illustrates a first area B11 and a second area B21. Thus, the movement command 33 again subdivided into different areas. However, unlike the second example, the movement command... 33 , which is used for removing or placing the item 4 and is used for desynchronization, specifying a percentage of the total movement path distance, i.e., the total distance covered by the movement command from the control unit. 30 distance travelled S1 + S2 ( Fig. 1), accordingly, defines which section of the movement command the removal / placement device 10 fully synchronized with the movement of the transport device 20 The procedure and when the desynchronization process begins depend on the height of the object. 4 For example, 20% of the route S1 + S2 ( Fig. 1) Fully synchronized operation. Therefore, 80% of the track S1 + S2 is used for desynchronization. Furthermore, it is possible to use the fully synchronized path portion of the movement command. 33 dynamically adapts to varying heights of objects 4 , 5 , 6 , 7 to adjust. Thus, for the next item 5 , possibly 30% of the route S1 + S2 ( Fig. 1) to proceed fully synchronously and to use 70% of the route S1 + S2 for desynchronization.

[0059] Through the flexible subdivision of the movement command 33 The retrieval / storage facility can be located in areas B11 and B21. 10 adapt flexibly to changes in the ongoing production process of the production plant 3 adapt, but without increasing the effort required for commissioning by an operator of the removal / placement device 10 to increase. Furthermore, the flexible subdivision of the movement command allows for... 33the safety of the retrieval / deposit facility 10 and thus the production plant 3 Furthermore, this increases the time required for each person to remove or place an item from the transport system. 20 transported item 4 , 5 , 6 , 7 optimized.

[0060] Even with this variant, it is no longer necessary to command additional fully synchronous movement command sets, which is more than one movement command. 31 This has the following effect. Therefore, even with this variant, it is possible to avoid commanding additional fully synchronous intermediate points, as is necessary in the modification of the first embodiment.

[0061] Even in the variant of the present embodiment, the production plant can be used 3For example, 86 products can be produced per minute, which represents a significant increase in production compared to the previous production plant. 1 as shown in the first embodiment. Furthermore, the time required for removing or placing an item is determined by the transport device for each item. 20 transported item 4 , 5 , 6 , 7 optimized, which allows for a further increase in production compared to the second embodiment when dealing with objects of different heights.

[0062] Fig. Figure 8 shows a modification of the production plant 3 according to the third embodiment. Accordingly, the control unit outputs 30 a command 34 from which is divided into three areas B11, B21, B31. The gripper is used here. 14 in the first area B11 fully synchronized with the movement of the transport device 20The movement is carried out. In the second area B21, the synchronization with the movement of the transport device is desynchronized. In the third area B31, the movement then proceeds asynchronously with the movement specified by the movement command.

[0063] All previously described configurations of the production facilities 1 , 2 , 3 The features and functions of the method can be used individually or in any possible combination. In particular, all features and / or functions of the previously described embodiments can be combined as desired. Additionally, the following modifications are particularly conceivable.

[0064] The parts shown in the figures are schematic and may differ in their exact design from the forms shown in the figures, as long as their previously described functions are guaranteed.

[0065] The design of the removal / deposit device 10This is a very simplified representation. The retrieval / deposit device 10 It can also be implemented in other ways. In this case, only one gripper is needed. 14 be present, which includes one or more items 4 , 5 , 6 , 7 It can be removed from the conveyor belt or placed onto the conveyor belt. In addition, the holding element can also be used. 11 be flexible.

[0066] At the dispensing / depositing facility 10 Multiple retaining elements can also be used. 11 and / or gripper 14 in a row perpendicular to the direction of transport 21 , especially perpendicular to the direction of transport 21 , arranged 11 and / or gripper 14 in a row in the direction of transport 21 , especially parallel to the direction of transport 21 , be arranged.

[0067] The retrieval / deposit facility 10It can also be designed as a robot. The entire mechanics of the picking / putting device. 10 can have any degrees of freedom, but should at least be in the direction of transport 21 and be movable in the Z direction, where the Z direction corresponds to the direction of the velocity V2 in the drawings.

[0068] The movement command can have any number of different areas, i.e., it can be divided not only into areas B1, B2 or B11, B21 or B11, B21, B31.

[0069] The transport facility 20 The transport device does not necessarily have to be designed as a conveyor belt. 20 can the items 4 , 5 , 6 , 7 also using gripping devices to hold them individually and transport them along a predetermined route.

[0070] Even if the objects in the figures 4 , 5 , 6 , 7on the transport device 20 The objects are arranged in a row at a distance A from each other. 4 , 5 , 6 , 7 on the transport device 20 They may also be arranged in a disorderly manner or in a different order.

Claims

[1] Removal / deposit device ( 10 ) for a transport facility ( 20 ), with a gripper ( 14 ) for the removal or placement of at least one item ( 4 , 5 , 6 , 7 ) from / on the transport equipment ( 20 ), which are used for transporting items ( 4 , 5 , 6 , 7 ) in a predetermined transport direction ( 21 ) serves, and with a control device ( 30 ) to control the gripper ( 14 ) using a movement command, wherein the movement command is divided into different areas (B1, B2; B11, B21) and the areas include an area (B1; B11) in which the gripper ( 14 ) fully synchronous with a movement of the transport device ( 20 ) is performed, and include an area (B2; B21) in which desynchronization takes place. [2] Removal / deposit device ( 10) according to claim 1, wherein the movement command defines which path of the movement command the gripper ( 14 ) fully synchronous with the movement of the transport device ( 20 ) the procedure and when the desynchronization will start. [3] Removal / deposit device ( 10 ) according to claim 1 or 2, wherein the movement command defines whether the transport device ( 20 ) for transporting the items ( 4 , 5 , 6 , 7 ) exhibits a constant or a variable speed (V1) during operation. [4] Removal / deposit device ( 10 ) according to one of the preceding claims, with a retaining element ( 11 ) to hold an actuator ( 13 ), at the end of which the gripper ( 14 ) is arranged, wherein the actuating element ( 13 ) on the retaining element ( 11 ) is mounted in a movable manner and / or the holding element is movable. [5] Production plant ( 1 ; 2 ; 3 ) for the production of items ( 4 , 5 , 6 , 7 ), with a transport device ( 20 ) for transporting the items ( 4 , 5 , 6 , 7 ) and with a dispensing / depositing device ( 10 ) according to one of the preceding claims. [6] Production plant ( 1 ; 2 ; 3 ) according to claim 5, wherein the transport device ( 20 ) for transporting the items ( 4 , 5 , 6 , 7 ) is operable at a constant or variable speed (V1), and / or wherein the transport device ( 20 ) is a conveyor belt. [7] Production plant ( 1 ; 2 ; 3 ) according to claim 5 or 6, wherein the control device ( 30 ) also for controlling the production plant ( 1 ;2 ; 3 ) and / or the transport equipment ( 20 ) is designed. [8] Methods for removing / placing an item ( 4 , 5 , 6 , 7 ) from / on a transport device ( 20 ), with the steps of removal or placement, using a gripper ( 14 ) a withdrawal / deposit facility ( 10 ), at least one item ( 4 , 5 , 6 , 7 ) from / on the transport equipment ( 20 ), which the items ( 4 , 5 , 6 , 7 ) in one direction of transport ( 21 ) transported, and controls, with a control device ( 30 ), of the grabber ( 14 ) using a movement command, wherein the movement command is divided into different areas (B1, B2; B11, B21) and the areas include an area (B1; B11) in which the gripper ( 14) fully synchronous with a movement of the transport device ( 20 ) is performed, and include an area (B2; B21) in which desynchronization takes place. [9] Method according to claim 8, wherein the movement command defines which distance of the movement command the gripper ( 14 ) fully synchronous with the movement of the transport device ( 20 ) the procedure and when the desynchronization will start. [10] Method according to claim 8 or 9, wherein the movement command defines whether the transport device ( 20 ) the items ( 4 , 5 , 6 , 7 ) transported at a constant or variable speed (V1).

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