Removal / placement device for a transport device and method for removing or placing an item from / onto a transport device

Abstract

A removal / placement device (10) for a transport device (20), comprising 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 transport direction (21), a control device (30) for controlling the gripper (14) in a synchronous movement with the transport device (20) by means of at least one movement command (31), and a fault handling device (35) for handling a fault during the synchronous movement such that the synchronization of the movement established between the transport device (20) and the gripper (14) is handled by means of a fault reaction (36) specific to the transport device (20) and independently of the at least one movement command (31) of the control device (30).wherein the removal / placement device (10) is designed in case of fault to desynchronize the speed (V1) of the transport device (20) from the movements of the gripper (14) with limit values ​​for deceleration and jerk of the objects (4, 5, 6, 7).

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, in which the load on the kinematics of the removal / placement device is minimized in the event of a fault.

[0002] Removal / placement devices for a transport device and / or methods for removing or placing an item from / onto a transport device are described, for example, in US 4,781,517 A, US 4,799,581 A, DE 37 32 842 C2, DE 28 06 786 A1, DE 37 04 423 A1, DE 38 40 229 A1, DE 100 60 348 A1, EP 0 856 465 A1, and GB 2 299 412 A.

[0003] 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.

[0004] 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 on the belt needs to be placed down. For this purpose, the pick-and-place device is designed to track and pick up products on the conveyor. A path defined by motion commands and the resulting movements of the pick-and-place device are superimposed on the conveyor belt speed. During the resulting belt-synchronous process, several movements are thus superimposed.

[0005] DE 40 21 330 C2 discloses a method for operating a robot and a device for this purpose, at which speeds of the robot and the belt are synchronized.

[0006] Currently, the problem is that if an error occurs during the execution of the belt-synchronized process, the entire kinematics of the pick-and-place device stop within a single movement cycle. This behavior places a high mechanical load on the entire kinematic system. Furthermore, products that have already been picked up may be dropped from the pick-and-place device, potentially damaging them. Additionally, the stoppage of the pick-and-place device can lead to collisions with other products or objects transported on the conveyor belt. These latter two situations can also cause products or objects to shift on or off the conveyor belt, resulting in errors in the production process and consequently, significant production downtime.

[0007] 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 an error in the synchronous movement of the removal / placement device and the transport device minimizes the load on the removal / placement device and the transport device and reduces downtime of the system in which the removal / placement device and the transport device are used as much as possible.

[0008] 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 in a synchronous movement with the transport device by means of at least one movement command, and a fault handling device for handling a fault in the synchronous movement such that the synchronization of the movement established between the transport device and the gripper is handled by means of a fault reaction specific to the transport device and independently of the at least one movement command of the control device, as specified in claim 1 or claim 4.

[0009] According to claim 1, the removal / placement device is designed, in the event of a fault, to desynchronize the speed of the transport device from the movements of the gripper with limit values ​​for delay and jerk of the objects,

[0010] According to the embodiment of claim 4, the removal / placement device is designed to desynchronize the speed of the transport device from the movements of the gripper over time in the event of a fault.

[0011] In the event of a fault, the picking / placing device handles the synchronization established with the transport device using a fault response specific to the transport device, independent of the movement commands for the picking / placing device. In particular, the specific fault response is unique to the transport device and the production plant in which the picking / placing device and the transport device are used. This fault handling minimizes the stress on the kinematics of the picking / placing device.

[0012] Furthermore, the fault response does not cause any further errors in the production plant, thus minimizing production downtime. As a result, the throughput of a production plant utilizing the picking / drop-off device and the transport system can be optimized.

[0013] Advantageous further embodiments of the removal / storage device are specified in the dependent patent claims.

[0014] The picking / putting device can also include a configuration unit for configuring the specific error response according to which the error handling device should handle errors during synchronous movement. Therefore, the configurable error response of the picking / putting device is advantageous. Depending on requirements, the various error response modes described above can be set: • Desynchronize with limits for delay and jerk and / or • Desynchronize over time.

[0015] This allows the removal / placement device to be optimally adapted to the transport device, thus further minimizing production losses resulting from errors.

[0016] In the production plant, the transport device for transporting the items can be designed to move at a constant or variable speed, and / or the transport device can be a conveyor belt, and / or the control device can also be designed to control the production plant and / or the transport device.

[0017] 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.

[0018] The previously described removal / placement device can be part of a production plant for the production of items, the production plant also having a transport device for transporting the items in a disorderly manner or in a row one after the other.

[0019] In the production plant, the specific fault response for the transport device can be a desynchronization of the speed of the transport device from the movements of the gripper with limit values ​​for delay and jerk of the items and / or the picking / drop-off device, or the specific fault response for the transport device can be a desynchronization of the speed of the transport device from the movements of the gripper over time, or the specific fault response for the transport device can be no fault response at all, so that only a fault response of the picking / drop-off device is to be executed, while maintaining the synchronization of the movements of the gripper and transport device.

[0020] In a production plant, the transport system for moving items can be designed to operate at a constant or variable speed, and / or the transport system can be a conveyor belt. It is also possible that the control system is designed to control the production plant and / or the transport system.

[0021] The problem is also solved by a method for removing or placing an object from / onto a transport device according to claim 9 or 10.The method comprises the steps: removal or placement, with a gripper of a removal / placement device, of at least one item from / onto the transport device, which transports the items in a transport direction; control, with a control device, of a synchronous movement in which a movement of the gripper and the transport device is at least partially synchronized by means of at least one movement command; and handling, with a fault handling device, of a fault in the synchronous movement such that the synchronization of the movement established between the transport device and the gripper is handled by means of a fault reaction specific to the transport device and independently of the at least one movement command of the control device; and at least one step for synchronizing the speed of the transport device from the movements of the gripper, as specified in claims 9 and 10.

[0022] The procedure achieves the same advantages as previously mentioned in relation to the withdrawal / deposit facility.

[0023] Advantageous further embodiments of the method are specified in the dependent patent claims.

[0024] In this method, the synchronization of movement established between the transport device and the gripper can be reduced by desynchronizing the speed of the transport device from the movements of the gripper with limit values ​​for deceleration and jerk of the objects and / or the removal / placement device, or by desynchronizing the speed of the transport device from the movements of the gripper over time, or maintained by the transport device not executing an error response and only an error response of the removal / placement device being executed.

[0025] 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.

[0026] The invention is described in more detail below with reference to the accompanying drawing and by means of exemplary embodiments. The drawing shows: Fig. 1 a highly simplified partial side view of a production plant according to a first embodiment; Fig. 2 another highly simplified partial side view of the production plant according to the first embodiment; Fig. 3 another highly simplified partial side view of the production plant according to the first embodiment; Fig. 4 another highly simplified partial side view of the production plant according to the first embodiment in the event of a fault; Fig. 5 a diagram of the path velocity of a retrieval / deposit device over time showing a fault response according to the first embodiment; Fig. 6 a diagram of the path delay and path acceleration of a retrieval / placement device over time with a representation of an error response according to the first embodiment; Fig. 7 a flowchart of a method for removing or placing an item from / onto a transport device according to the first embodiment; Fig. 8 a diagram of the path velocity of a retrieval / deposit device over time showing a fault response according to a second embodiment; Fig. 9 a diagram of the path delay and path acceleration of a retrieval / deposit device over time with a representation of an error response according to the second embodiment; Fig. 10. A diagram of the path velocity of a retrieval / placement device over time, showing a fault response according to a third embodiment; and Fig. 11 a diagram of the path delay and path acceleration of a retrieval / deposit device over time with representation of an error response according to the third embodiment.

[0027] In the figures, identical or functionally equivalent elements are provided with the same reference symbols unless otherwise specified.

[0028] Fig. Figure 1 shows a production plant 1 in which items 4, 5, 6, 7 are processed or produced. The production plant 1 comprises a picking / placing device 10, a transport device 20, a control device 30 for issuing multiple movement commands 31, a fault handling device 35 for executing specific fault reactions 36, 37 in the event of a fault, a detection device 40, and a configuration device 50 for configuring according to which specific fault reaction 36 the fault handling device 35 should handle a fault during a synchronous movement of picking / placing device 10 and transport device 20.

[0029] In Fig. Figure 1 comprises the removal / placement device 10, which in turn has a holding element 11 with a coupling element 12, an actuating element 13, and a gripper 14. On the transport device 20, the objects 4, 5, 6, and 7 are arranged in a row at intervals A. The transport device 20 is movable in a transport direction 21 at a speed V1. The speed V1 is preferably a constant speed. However, the speed V1 can also be variable. The entire removal / placement device 10, or only its gripper 14 with actuating element 13, is movable transversely to the transport direction 21 in at least two opposite directions at a speed V2, as shown in Figure 1. Fig. 1 is indicated by an arrow. Furthermore, at least the gripper 14 can also be moved in the direction of velocity V1. The velocity resulting from the superposition of velocities V1 and V2 for the gripper 14 is subsequently also referred to as path velocity V.

[0030] 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. In this process, items 4, 5, 6, 7, in the form of components of the end product for attachment to the end product, the end product itself, or end products in a packaged assembly, are transported by the transport device 20. However, the items 4, 5, 6, 7 can also constitute packaging into which one or more end products or other parts are to be placed. The end products or other parts are also considered items. The transport device 20 can be designed as a conveyor belt that circulates continuously.In this process, the conveyor belt can either run 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.

[0031] The control unit 30 controls the production plant 1. Instead of controlling the entire production plant 1, the control unit 30 can also control only the removal / placement unit 10 and the transport unit 20. However, it is also possible for the control unit 30 to control only the removal / placement unit 10, taking into account measured values ​​from the speed of the transport unit 20 measured by the detection unit 40, or to receive the speed of the transport unit 20 from another unit, in particular a higher-level, secondary, or subordinate control unit, or a storage unit, etc.

[0032] In Fig. The coupling element 12 is arranged at one end of the holding element 11. The coupling element 12 couples the holding element 11 to the actuating element 13, so that the rod-shaped holding element 11 is arranged essentially perpendicular to the rod-shaped actuating element 13. The gripper 14 is arranged at one end of the actuating element 13. The actuating element 13, and thus the gripper 14, are movably mounted to the coupling element 12. Therefore, the actuating element 13, and thus the gripper 14, can be moved towards the transport device 20 and the objects 4, 5, 6, 7 moving thereon in the transport direction 21, as shown in the figure. Fig. 1 and Fig. 2. Here, the actuating element 13, and thus the gripper 14, is moved transversely, in particular perpendicularly, to the transport direction 21. The movement can be a translational movement, as indicated by arrow V2 in Fig. 1 and Fig. 2 shown. However, the movement can also include arc-shaped movement(s), etc. The exact movement in terms of speed and path or distance is determined by movement commands 31 of the control device 30.

[0033] In the position in Fig. 2. The gripper 14 can grasp the object 4 and remove it from the transport device 20, and thus from the row of objects 4, 5, 6, 7 on the transport device 20. For this purpose, the actuating element 13, and therefore the gripper 14, returns to the position of after grasping the object 4. Fig. 1 to move, as in Fig. Figure 3 shows that the object 4 is first moved along a distance S1 by the gripper 14, as shown in Figure 3. Fig. Figure 3 shows the distance S1. The distance S1 corresponds to the height of objects 4, 5, 6, 7 or the maximum expected height of objects 4, 5, 6, 7. Along distance S1, the gripper 14 moves object 4 fully synchronously with the movement of the transport device 20 in the transport direction 21. Only along distance S2 does the gripper 14 move object 4 at a different speed than the speed V1 of the movement of the transport device 20.

[0034] Thus, the control unit 30 performs a synchronous procedure between gripper 14 and transport device 20, which includes tracking and gripping the objects 4, 5, 6, 7 on the transport device 20. During the procedure synchronous with the transport device 20, several movements are superimposed. For example, the movement path defined by movement commands 31, in particular along the paths S1 and S2, and the resulting movements of the kinematics of the removal / placement device 10 are superimposed at the velocity V1 of the transport device 20.

[0035] At the in Fig. 1 to Fig. In the variant shown, it is possible to initiate a desynchronization process, during which the synchronization is broken down, by starting a movement command 31 from the control unit 30, and to end this process when the movement command is completed. 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, even after the first interpolation cycle, i.e., when the object 4 traverses path S1 during removal and path S2 during placement, there is no longer full synchronization between the movements of the kinematics in the form of the gripper 14 and, if applicable, the actuating element 13 of the removal / placement device 10 and the velocity V1 of the transport device 20.As a result, the distance A between the objects 4, 5, 6, 7 is chosen to be so large that there is no collision between the objects 4, 5, 6, 7, which is represented, for example, by a marking 25 at the objects 4, 5 in . Fig. Figure 4 shows that such a collision represents a fault in the control of the control unit 30 and must be avoided.

[0036] It is also possible that at least two transport devices 20 are used in production plant 1, with one transport device 20 being used for feeding loose goods and the other transport device 20 being used for feeding cartons. For example, a material jam may occur on the transport device 20 used for feeding cartons. In this case, the affected unit of production plant 1 must be shut down. If, for example, the picking / drop-off device 10 in this unit is synchronized with the transport device 20 used for feeding loose goods, then care must be taken to ensure that the picking / drop-off device 10 stops on the transport device 20 according to the type of goods being handled.

[0037] In the case of such errors in the synchronous procedure for a movement of gripper 14 and transport device 20, as for example in Fig. As shown in Figure 4 and described above, the synchronization established for the transport device 20 is deactivated by means of a fault response 36, 37 specific to the transport device 20 and / or the picking / placing device 10, and thus to the production plant 1. The fault response 36 and / or the fault response 37 is / is initiated by the fault handling device 35. Here, a fault response 36 of the picking / placing device 10 is handled independently of a fault response 37 of the transport device 20. In other words, the fault response 37 of the transport device 20 is handled independently of the movement command(s) 31 of the control device 30 for the picking / placing device 10.

[0038] In the present embodiment, according to the specific fault response 36 of the removal / placement device 10, desynchronization is performed by means of defined limit values ​​for the deceleration and jerk of the objects 4, 5, 6, 7. The limit value is different, for example, for a textile than for a fragile object, an object that can be deformed into destruction by deceleration and jerk, etc. This variant of the specific fault response 36 of the fault handling device 35 is based on the fact that the respective object 4, 5, 6, 7, or its mass, when decelerated by the gripper 14, generates a certain force or moment at the tool center point (TCP) of the gripper 14. The gripper 14, which can also be designed as a suction cup that holds the respective object 4, 5, 6, 7, should continue to grip or suction and thus hold the respective object 4, 5, 6, 7 even in the event of a fault.For this reason, it is advantageous to disengage the synchronization with the transport device 20 in the event of a fault, based on defined limit values. This prevents the gripped object 4, 5, 6, 7 from potentially falling off the gripper 14. In this way, damage to the object 4, 5, 6, 7 gripped by the gripper 14, as well as to other subsequent or preceding objects 4, 5, 6, 7 transported by the transport device 20, can be avoided. Furthermore, the stress on the kinematics of the picking / placing device 10 is minimized.

[0039] If an additional fault response 37 of the transport device 20 is configured, this will always occur in the direction of the transport device 20, specifically in the transport direction 21, in the event of a fault. Furthermore, as previously mentioned, the fault response 37 of the transport device 20 occurs independently of the previously described fault response 36 of the kinematics of the removal / placement device 10. The duration of the fault response of the transport device 20 can vary depending on the selected parameters or limit values. Accordingly, the fault response of the transport device 20 can also be a desynchronization using defined limit values ​​for the deceleration and jerk of the items 4, 5, 6, 7. Alternatively or additionally, the fault response of the transport device 20 can be a desynchronization over time.However, no error response can occur in the transport device 20, so that only the previously described error response 36 of the removal / placement device 10 is executed.

[0040] Fig. Figure 5 shows a diagram of the path velocity V of the gripper 14 of the removal / placement device 10 over time t with a representation of the error reaction 36 according to the present embodiment, i.e. a desynchronization by means of predetermined limit values ​​for deceleration and jerk of the objects 4, 5, 6, 7 and thus of the kinematics of the removal / placement device 10 and / or the transport device 20. Fig. Figure 6 shows a corresponding diagram of the path deceleration and path acceleration a versus time t. Fig. At time t1, the active movement command 31 from the control unit 30 for the removal / placement device 10, and thus the gripper 14, ends. The kinematics of the removal / placement device 10, i.e., the holding element 11, the coupling element 12, the actuating element 13, and the gripper 14, are positioned relative to the transport device 20. Consequently, the removal / placement device 10, or rather the gripper 14, moves synchronously with the speed of the transport device 20. At time t2, however, an error occurs. Subsequently, in this embodiment, the speed of the transport device 20 is reduced according to the configured limit values ​​and thus desynchronized from the speed of the removal / placement device 10, as shown in Fig. Figure 5 shows that the deceleration or acceleration a also changes accordingly, as shown in Figure 5. Fig. 6 shown.

[0041] Fig. Figure 7 illustrates a method for removing or placing an object 4 or 5 or 6 or 7 from / onto a transport device 20 at the production plant 1. The method is controlled by the control unit 30, which, as required, issues movement commands 31 to the removal / placement device 10 and / or at least the gripper 14.

[0042] Accordingly, after the start of the process at step S1, either the empty gripper 14 is moved towards the transport device 20, or an object 4 is gripped by the gripper 14 and the object 4 gripped by the gripper 14 is moved by the gripper 14 towards the transport device 20. This occurs after the start of the transport device 20 and the gripper 14 within a time period up to time t1. Fig. 5 and Fig. 6, as explained above. The flow then continues to step S2.

[0043] In step S2, which occurs after time t1 of Fig. 5 and Fig. When step 6 begins, the gripper 14 with or object 4 and the transport device 20 are moved synchronously. The flow then continues to step S3.

[0044] Step S3 detects whether an error occurs during the synchronous movement of gripper 14 and transport device 20. If this is the case, as in Fig. 5 and Fig. At time t2, the flow continues to step S4.

[0045] In step S4, the fault handling device 35 executes the previously described fault response 36, in which desynchronization is performed with the predetermined limits for delay and jerk. The flow then continues to step S5.

[0046] The error is corrected in step S5. The correction of the error is acknowledged, for example, by user input. Afterwards, the flow returns to step S1 and the process can begin again.

[0047] Depending on the use case, the procedure, especially with regard to steps S1 and S5, can be adapted to the specific use case and thus designed differently than previously described.

[0048] Fig. Figure 8 shows a diagram of the path velocity V of the gripper 14 of the removal / placement device 10 over time t with a representation of the fault reaction 37 according to a second embodiment in which desynchronization over time is performed for removal / placement device 10 and / or transport device 20. Fig. Figure 9 shows a corresponding diagram of the path acceleration a versus time t. Also in Fig. At time t1, the active movement command 31 from the control unit 30 for the removal / placement device 10, and thus the gripper 14, ends, after which the removal / placement device 10 or the gripper 14 moves synchronously with the speed of the transport device 20. If the fault occurs at time t2, the speed of the transport device 20 is reduced for a fixed time or within a defined period in the present embodiment and thus desynchronized from the speed of the removal / placement device 10, as shown in Fig. 8 shown. Consequently, the acceleration a also changes, as shown in Fig. 9 shown.

[0049] Thus, according to the second embodiment, a desynchronization over time is performed due to the specific fault response 37 of the transport device 20. This variant of the specific fault response 37 of the fault handling device 35 is based on the fact that, due to process or production plant requirements, the desynchronization of the gripper 14's movement with the transport device 20 must be completed within a defined time. The simple time specification makes it very easy to meet these criteria in the event of a fault.

[0050] Additionally, a specific fault response 36 of the removal / placement device 10 can be executed, which, however, is executed independently of the described fault response 37 of the transport device 20. The specific fault response 36 of the removal / placement device can be the same as the fault response 36 described in the first embodiment.

[0051] Fig. Figure 10 shows a diagram of the path velocity V of the gripper 14 of the removal / placement device 10 over time t with representation of the fault reaction according to an unclaimed embodiment in which only a fault reaction 36 is carried out with the removal / placement device 10 but no fault reaction 37 of the transport device 20. Fig. Figure 11 shows a corresponding diagram of the path acceleration a versus time t. Also in Fig. At time t1, the active movement command 31 from the control unit 30 for the pick-and-place device 10, and thus the gripper 14, ends. After this, the pick-and-place device 10, or rather the gripper 14, moves synchronously with the speed of the transport device 20. If the fault occurs at time t2, the transport device 20 does not react. Therefore, in this embodiment, the previous movement and thus the speed of the transport device 20 remain unchanged. Instead, only the pick-and-place device 10 executes a fault response 36, so that the synchronization of the speeds between the transport device 20 and the pick-and-place device 10 remains synchronized, as shown in Fig. 10 shown. Accordingly, the acceleration a has the in Fig. 11 shown course.

[0052] Thus, according to the present implementation variant, no fault reaction 37 of the transport device 20 is executed, but only a fault reaction 36 with the picking / placing device 10. This variant of the specific fault reaction 36 of the fault handling device 35 has the effect that, by specifically deactivating fault reaction 37 (operating mode "no fault reaction"), synchronization is maintained in the event of a fault. The user of the production plant 1 must then specifically stop the axis of the transport device 10 in their user program. Due to the continued synchronization, the kinematics of the picking / placing device 10 stop at a defined point on the transport device 10. This also prevents a collision with objects 4, 5, 6, 7 that may be located on the transport device 10.

[0053] The fault handling according to the present embodiment is particularly advantageous, for example, in production plants where several items 4, 5, 6, 7, such as solar modules, are placed or stacked in a tall carton. A deceleration of the speed V1 of the transport device 20 in the event of a fault would lead to a collision with the carton and thus to longer plant downtimes.

[0054] All previously described configurations of production plant 1 and the process 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.

[0055] 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.

[0056] It is possible that the fault handling device 35 can execute more than one of the previously described specific fault responses 36, 37 in the event of a fault. In this case, the configuration device 50 can be used to configure, as needed, which specific fault response 36, 37 the fault handling device 35 should use to handle the fault during synchronous motion.

[0057] The fault handling device 35 does not have to be part of the removal / storage device 10 but can be part of the production plant 1 or the transport device 20.

[0058] The design of the removal / placement device 10 is shown in a highly simplified manner. The removal / placement device 10 can also be designed in other ways. In this case, there may only be one gripper 14, which can remove one or more objects 4, 5, 6, 7 from the transport device 20 or place them onto the transport device 20. In addition, the holding element 11 can also be movable.

[0059] In the removal / placement device 10, several holding elements 11 and / or grippers 14 can also be arranged in a row transverse to the transport direction 21, in particular perpendicular to the transport direction 21. Several holding elements 11 and / or grippers 14 can also be arranged in a row in the transport direction 21, in particular parallel to the transport direction 21.

[0060] The picking / placing device 10 can also be implemented as a robot. The entire mechanics of the picking / placing device 10 can have any degrees of freedom, but should be movable at least in the direction of the transport direction 21 and in the Z-direction, where the Z-direction corresponds to the direction of velocity V2 in the drawings. The movement of several axes of the robot together results in the path velocity V.

[0061] Even though in the figures the objects 4, 5, 6, 7 are arranged in a row on the transport device 20 with a distance A between them, the objects 4, 5, 6, 7 can also be arranged in a disordered manner or in a different arrangement on the transport device 20.

Claims

[1] A removal / placement device (10) for a transport device (20), comprising 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 transport direction (21), a control device (30) for controlling the gripper (14) in a synchronous movement with the transport device (20) by means of at least one movement command (31), and a fault handling device (35) for handling a fault in the synchronous movement such that the synchronization of the movement established between the transport device (20) and the gripper (14) is handled by means of a fault reaction (36) specific to the transport device (20) and independently of the at least one movement command (31) of the control device (30),wherein the removal / placement device (10) is designed in case of fault to desynchronize the speed (V1) of the transport device (20) from the movements of the gripper (14) with limit values ​​for deceleration and jerk of the objects (4, 5, 6, 7). [2] Removal / placement device (10) according to claim 1, wherein the removal / placement device (10) is also designed to desynchronize the speed (V1) of the transport device (20) from the movements of the gripper (14) over time in the event of a fault. [3] Removal / placement device (10) according to one of the preceding claims, furthermore comprising a configuration device (50) for configuring which specific fault response (36) the fault case handling device (35) is to handle the fault case during synchronous movement. [4] A removal / placement device (10) for a transport device (20), comprising 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 transport direction (21), a control device (30) for controlling the gripper (14) in a synchronous movement with the transport device (20) by means of at least one movement command (31), and a fault handling device (35) for handling a fault in the synchronous movement such that the synchronization of the movement established between the transport device (20) and the gripper (14) is handled by means of a fault reaction (36) specific to the transport device (20) and independently of the at least one movement command (31) of the control device (30),wherein the removal / placement device (10) is designed to desynchronize the speed (V1) of the transport device (20) from the movements of the gripper (14) over time in the event of a fault, [5] Removal / placement device (10) according to one of the preceding claims, furthermore comprising a holding element (11) for holding an actuating element (13) at the end of which the gripper (14) is arranged, wherein the actuating element (13) is movably mounted on the holding element (11) and / or the holding element (11) is movable. [6] Production plant (1) for the production of items (4, 5, 6, 7), comprising a transport device (20) for transporting the items (4, 5, 6, 7) in a random order or in a row, and a removal / placement device (10) according to one of the preceding claims. [7] Production plant (1) according to claim 6, wherein the fault response specific to the transport device (20) is a desynchronization of the speed (V1) of the transport device (20) from the movements of the gripper (14) with limit values ​​for deceleration and jerk of the items (4, 5, 6, 7) and / or the removal / placement device (10), and / or wherein the fault response specific to the transport device (20) is a desynchronization of the speed (V1) of the transport device (20) from the movements of the gripper (14) over time. [8] Production plant (1) according to claim 6 or 7, wherein the transport device (20) is designed to transport the items (4, 5, 6, 7) at a constant or variable speed (V1), and / or wherein the transport device (20) is a conveyor belt, and / or wherein the control device (30) is also designed to control the production plant (1) and / or the transport device (20).[9] Method for removing or placing an object (4, 5, 6, 7) from / onto a transport device (20), comprising the steps removal or placement (S1), with a gripper (14) of a removal / placement device (10), of at least one object (4, 5, 6, 7) from / onto the transport device (20), which transports the objects (4, 5, 6, 7) in a transport direction (21), control (S2), with a control device (30), of the gripper (14) into a synchronous movement with the transport device (20) by means of at least one movement command (31), and treatment (S4), with a fault handling device (35), of a fault in the synchronous movement such that the synchronization of the movement established between the transport device (20) and the gripper (14) is restored by means of a fault reaction (36) specific to the transport device (20) and independent of the at least one movement command (31) the control device (30) is treated,wherein the synchronization of movement established between transport device (20) and gripper (14) is reduced by desynchronizing the speed of the transport device (20) from the movements of the gripper (14) with limit values ​​for deceleration and jerk of the objects (4, 5, 6, 7) and / or the removal / placement device (10). [10] Method according to claim 9, wherein the synchronization of movement established between transport device (20) and gripper (14) is reduced, in addition to or instead of being reduced by desynchronizing the speed of the transport device (20) from the movements of the gripper (14) with limit values ​​for deceleration and jerk of the objects (4, 5, 6, 7) and / or the removal / placement device (10), by desynchronizing the speed of the transport device (20) from the movements of the gripper (14) over time.

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