DEVICE AND METHOD FOR DEPALLETIZING A PIECE FROM A STATIONARY STACK SYSTEM

Description

Technical area

[0001] A device is described for depalletizing piece goods arranged in a stationary stacking system along individual stacking levels, with a gripping device that can be spatially positioned relative to the stacking system and that is capable of picking up individual pieces by engaging with a piece of goods on one side and subsequently tipping and driving under the piece of goods, as well as with a strip-shaped mechanical stop that has a longitudinal extension and is spatially positionable on a support structure and has a support plate-like limiting structure that can be positioned on a piece of goods to be picked up opposite the gripping device in the area of ​​the stacking level of the piece of goods and can be brought into contact with the piece of goods and is designed in such a way thatthat when the gripping device engages with the piece goods and there is simultaneous mechanical interaction between the piece goods and the stop, a tilting moment oriented around a tilting axis predetermined by the mechanical stop acts on the piece goods.

[0002] In intralogistics, a particular challenge during automated depalletizing, order picking, and re-palletizing is to manage the large variety of unit loads to be handled using a universal gripper. The principle of the roll-on gripper was developed to meet these requirements. Such roll-on grippers have a picking area, usually in the form of a driven rubber roller or a conveyor belt guided by a roller, which is pressed against the end face of a unit load to be picked up, facing the roll-on gripper. As a result, the rubber roller or the conveyor belt guided by a roller forms a local frictional connection with the unit load to be picked up and locally lifts or lowers the object due to the roller or conveyor belt drive.tilts, creating a gap between the object and its original support surface, into which the mostly wedge-shaped rolling gripper moves and moves under the object in order to pick it up completely while resting on the rolling gripper. State of the art

[0003] Roll-on grippers are known in a wide variety of designs, for example in the form of a single receiving module with at least one conveyor belt circulating over two rollers, as described in GB 1 559 973 A, or with two parallel roll-on gripper modules whose transverse spacing is variably adjustable, as described in DE 10 2012 009 649 B4, to name just a few. Regardless of the design of a roll-on gripper, it is important to ensure that the piece goods being picked up are secured against slipping backward, while the roll-on gripper lifts the piece goods on one side through frictional contact on the front side of the piece goods.This is generally achieved by a mechanical stop, usually in the form of a stationary rear wall or a side surface of a piece of goods stored directly adjacent along the stacking level, against which the piece of goods to be picked up usually rests completely with its rear side facing the gripping device. The full-surface contact of the piece of goods to be picked up makes the picking process with a roll-on gripper more difficult, especially since for the piece of goods to tip freely around the rear lower edge of the piece of goods, the rear upper edge of the piece of goods would have to pivot freely backward. However, this free pivoting process is at least hindered by the full-surface contact of the rear of the piece of goods against the rear wall.In addition, depending on the rigidity of the outer packaging, the piece goods to be picked up will be partially deformed due to the rolling forces acting on them and the horizontal counterforce of the rear wall, which means that damage to the piece goods cannot be ruled out.

[0004] DE 42 18 468 A1 discloses a method and a device for picking up a load from a stack that is being depalletized layer by layer using a receiving table equipped with rollers. For this purpose, the individual items arranged one behind the other in a stacking level are gripped as a whole between two stoppers and slightly lifted, while the receiving table moves beneath the individual items.

[0005] EP 2 923 975 A1 discloses a depalletizing device for removing layers from packages from a stack of goods. Here, a holding device, which is brought into contact with the upper part of the pallet layer at the rear, interacts with a receiving table with a wedge-shaped insertion rail that can be moved horizontally against the pallet layer along the pallet support plane.

[0006] WO 2009 / 043151 A1 discloses a robot-arm-supported depalletizing device with a pusher and a receiving table. The pusher presses against the upper part of a piece of goods to be picked up, while the receiving table moves underneath the piece of goods.

[0007] It is also common in logistics for the individual piece goods arranged within a stack to be not perfectly geometrically aligned relative to one another. Vertical and / or horizontal underhangs and / or overhangs between adjacent piece goods in the stack can have a negative impact on the rolling process. Further problems for the rolling process arise if the individual piece goods are not uniformly oriented around the vertical axis, but are placed at an angle to the respective rear wall. In this case, it cannot be ruled out that the rolling gripper makes initial contact with the piece goods to be picked up at a specific point, causing the piece goods to be rotated parallel to the picking edge of the rolling gripper in order to tilt and pick them up as part of the subsequent frictional connection. In this case, too, damage to the piece goods to be picked up cannot be ruled out.

[0008] JP H07 69455 A discloses a piece goods receiving unit with a spatially positionable rolling module and a mechanical stop that can be spatially positioned together with the receiving module. During the receiving process, the stop is positioned relative to the rolling module behind the piece goods to be picked up as a counter-bearing. A pneumatic tilting or lifting unit is also provided, which can tilt or lift the piece goods to be picked up, thus facilitating the rolling module's movement underneath the piece goods.

[0009] The piece goods receiving unit described in JP H10 310257 A provides a vertically positionable stacking system, the topmost piece goods layer of which is positioned to match the spatial position of a depalletizing assembly equipped with a horizontally movable roll-on gripper. In the direction of movement of the horizontally movable roll-on gripper module, a mechanical counterbearing is arranged behind the piece goods for the purpose of receiving the piece goods. This counterbearing has a fixed stop surface that is inclined relative to the vertical.

[0010] Document JP H08 258911 A describes an arrangement for depalletizing stacked items resting on a vertically movable lifting arrangement, so that the topmost item layer can be positioned relative to a motor-driven roller arrangement, which is moved longitudinally to the topmost stack level beneath the items to be picked up. JP H04 303330 A discloses a device according to the preamble of claim 1. Description of the invention

[0011] The invention is based on the object of designing a device for depalletizing piece goods arranged in a stationary stack along individual stacking levels. The device comprises a gripping device that can be spatially positioned relative to the stack and is capable of picking up individual pieces by engaging a piece goods on one side and subsequently tilting and moving underneath the piece goods. This device is designed in such a way that the aforementioned disadvantages are avoided and the force and energy required for the piece goods picking process is reduced. In particular, the object is to implement the piece goods picking without damaging the piece goods and, furthermore, to implement measures that enable the rapid and safe depalletization of a stack of piece goods.

[0012] The solution to the problem underlying the invention is defined in claim 1. Features that advantageously develop the inventive concept are the subject of the dependent claims and the further description, in particular with reference to the exemplary embodiments.

[0013] According to the solution, the device for depalletizing piece goods from a stacked assembly according to the features of the preamble of claim 1 is characterized in that a spatially positionable, mechanical stop is provided, which can be positioned on a piece of goods to be picked up opposite the gripping device in the region of the stacking plane of the piece goods and can be brought into contact with the piece goods. The stop is designed such that when the gripping device engages the piece goods and there is simultaneous mechanical interaction between the piece goods and the stop, a tilting moment oriented around a tilting axis predetermined by the mechanical stop acts on the piece goods. The stop is strip-shaped and has a longitudinal extension of the strip.A support structure is provided directly behind the stack assembly, to which the mechanical stop, which is adjustable in height (z) and horizontally (x), and a limiting structure fixed to it are attached. The support structure consists of a frame whose size and shape are adapted to the size and shape of the stack assembly with a corresponding oversize. The profile frame-like support structure is dimensioned so large that the stack assembly arranged on a pallet can be moved through the support structure, provided that the mechanical stop and the support plate-like limiting structure are moved to a highest vertical position.

[0014] The mechanical stop has a longitudinal extension of the strip, which determines the tilting axis.

[0015] The piece goods are tilted by a mechanically predetermined tipping edge, which distances the piece goods from a rear obstacle, for example a rear wall, so that the tipping process of the piece goods to be picked up can be carried out without hindrance using the gripping device. The mechanical stop, which is positioned along the lower rear edge of the piece goods, while the gripping device comes into contact with the piece goods in the area of ​​the front lower edge for the purpose of tipping and picking up the piece goods, supports and stabilizes the rear lower edge of the piece goods to be tipped. In addition, a tipping limitation measure is provided in that a limiting structure, preferably in the form of a rear wall, is additionally combined with the mechanical stop in such a way that the limiting structure is arranged relative to the mechanical stop to the gripping device as well as opposite a piece goods to be picked up, i.e.The mechanical stop distances the limiting structure from the piece of goods to be picked up, the lower rear edge of which is in contact with the mechanical stop. This ensures that there is sufficient clearance between the upper rear edge of the piece of goods and the limiting structure to allow the tipping process to be carried out as smoothly as possible and with the lowest possible tipping forces initiated by the gripping device.

[0016] The shape and dimensions of the mechanical stop as well as the shape and size of the limiting structure are adapted to the type, nature, size and shape of the respective piece goods in such a way that it is ensured that, on the one hand, the tipping and picking up of the respective piece goods with the help of the gripping device can be carried out safely and gently for the piece goods and, on the other hand, it is ensured that the limiting structure can prevent an uncontrolled, backward tipping of the piece goods.

[0017] The provision of a defined mechanical stop to assist the tipping process of a piece goods for the purpose of depalletizing with the aid of a gripping device preferably designed in the manner of a roller gripper enables a method for gentle depalletizing in which a mechanical stop is positioned on a piece goods to be picked up opposite the gripping device in the region of the stacking level. The gripping device then contacts the piece goods in such a way that, through the mechanical interaction of the piece goods, the gripping device and the stationary mechanical stop, a tipping moment oriented around a tilting axis predetermined by the mechanical stop acts on the piece goods in such a way that, facing the gripping device, a wedge-shaped gap opens between the piece goods and the stacking level, into which gap the gripping device moves and the piece goods travel under.Finally, the piece goods can be removed from the stack using the gripping device.

[0018] To explain the device according to the solution and its preferred further developments, reference is made to the following illustrated embodiments, which can be implemented individually or in combination. Brief description of the invention

[0019] The invention is described below using exemplary embodiments with reference to the drawings. In the drawings: Fig. 1a,b mechanical stop with rear wall to support the tipping process, Fig. 2a,b,c alternative design of the mechanical stop with rotatable mounting of the tipping edge, Fig. 3 vertical height adjustment of the mechanical stop relative to individual stacking levels, Fig. 4a,b oblique and side view of a support structure for vertical and horizontal positioning of the mechanical stop with limiting structure, Fig. 5a,b,c illustration of different piece goods removal constellations, Fig. 6a,b mechanical stop with limiting structure with kinematics pivotable about the vertical axis, Fig. 7 sensors for detecting and monitoring a piece of goods to be removed and relative positioning of the mechanical stop relative to a stack, Fig. 8a - alternative embodiments to support the tipping process of the piece goods around a mechanical stop and Fig.9a-d different embodiments for the spatial positioning of the mechanical stop and / or a limiting structure.

[0020] The embodiments according to the Figures 2a, 2b , 8a, 8b, 8c and 8d do not disclose a limiting structure (7) fixedly attached to the stop (6) and are therefore not part of the invention. Ways of implementing the invention, industrial applicability

[0021] Figure 1a shows a schematic representation of a piece of goods 1, which is to be picked up with the aid of a gripping device 2, preferably in the form of a rolling gripper, which has a frictional engagement element 3 rotatably mounted on the front side. For this purpose, the gripping device 2 contacts the piece of goods 1 to be picked up at its front side 4 in the area of ​​the lower edge and exerts a force on the piece of goods 1 due to the Figure 1aillustrated rolling or rotating movement of the frictional engagement element 3, a tipping moment oriented towards the piece goods 1 around the rear lower edge 5 of the piece goods 1. In order to prevent the piece goods 1 from tipping over due to the forces acting on the piece goods 1 by the gripping device 2, in the illustration according to the Figures 1 a, b to the left, a mechanical stop 6 is arranged stationary immediately adjacent to the rear lower edge 5 of the piece goods 1. The mechanical stop 6 thus defines a spatially fixed tilting axis KA, which in the illustration according to Figure 1 coincides with the rear lower edge 5 of the piece goods 1. The mechanical stop 6 is preferably strip-shaped and extends along the entire rear lower edge 5 of the piece goods 1. The mechanical stop 6 has in the case of Figures 1a, b has a cross-section in the form of a quarter circle, but can also take on any other cross-sectional shape that supports the tipping process of the piece goods 1 as such, for example rectangular or triangular.

[0022] In addition, a limiting structure 7 in the form of a rear limiting wall is attached to the mechanical stop 6, which has a vertical extension that is greater than the vertical height of the mechanical stop 6. The limiting structure 7 is attached to the mechanical stop 6 in such a way that in the non-tilted state of the piece goods 1, see Figure 1a , the limiting structure 7 has a distance 9 from the rear side 8 of the piece goods 1, which distance is predetermined by the width of the mechanical stop 6.

[0023] The limiting structure 7 serves as a tipping protection for the piece goods 1, which prevents the piece goods 1 from tipping over and driving under the piece goods 1 with the gripping device 2, see Figure 1b, cannot tilt uncontrollably around the tilting axis KA.

[0024] Advantageously, the mechanical stop 6 and the limiting structure 7 are designed according to the Figures 1 a and b are firmly connected to one another and are to be spatially positioned with the aid of a suitable manipulator unit at the rear lower edge of the piece goods 1 to be picked up. Alternatively, it is also conceivable to design the limiting structure 7 and the mechanical stop 6 as separate structural units and to store them in a comparable manner so that they can be spatially positioned, see e.g. Figure 3 , which will be referred to later.

[0025] As an alternative to a stationary mounting of at least the mechanical stop 6 relative to the rear lower edge 5 of the piece goods 1 to be picked up, the Figure 2a to cillustrated embodiments provide a rotatable mounting of the mechanical stop 6, so that during the tilting movement of the piece goods 1 no relative movement takes place between the piece goods 1 and the mechanical stop 6.

[0026] By preventing relative movements between the mechanical stop 6 and the piece goods 1 to be picked up, the risk of damage to the piece goods is further reduced considerably. Figures 2a and bThe mechanical stop 6, which is also strip-shaped, comes into surface contact with the rear side 8 of the piece goods 1 in some areas, directly above the rear lower edge 5. The mechanical stop 6 is pivotally mounted on a single-axis pivot bearing 10. The pivot bearing 10 is preferably designed as a passive pivot bearing, which is deflected about the tilting axis KA by the tilting moment originating from the gripping device 2 and acting on the piece goods 1, which in the illustrated embodiment does not coincide with the rear lower edge 5 of the piece goods 1.

[0027] In Figure 2ba stack assembly 11 consisting of 5 piece goods 1 is shown. The single-axis pivot bearing 10 and the mechanical stop 6 fixedly attached to it can be freely positioned spatially with the aid of a manipulator unit (not shown) such that the mechanical stop 6 lies flat against the rear side 8 of the piece goods 1 in the area of ​​the rear lower edge 5. Due to the flat design of the contact surface between the mechanical stop 6 and the piece goods 1 to be picked up, a limiting structure that limits the tipping process, as in Figure 2a , can be waived.

[0028] After picking up and removing a piece of goods 1 to be removed, the upwardly deflected mechanical stop 6 is reset either solely on the basis of the acting force of gravity or with the aid of an active or passive force element which interacts directly or indirectly with the single-axis pivot bearing 10.

[0029] In Figure 2cAn embodiment is shown in which the mechanical stop is realized by a flat limiting structure 7 attached directly to a single-axis pivot bearing 10. In this case, the rear lower edge 5 of the piece goods 1 to be picked up coincides with the lower edge of the flat limiting structure 7, which also coincides with the rotational axis or tilting axis KA of the single-axis pivot bearing 10.

[0030] Figure 3shows a stack assembly 11 consisting of individual piece goods 1, each arranged in stacking levels 12 arranged vertically one above the other. For fast depalletizing, a limiting structure 7 is attached to the rear of the stack assembly 11, the vertical extent of which is greater than the vertical stacking height of the stack assembly 11. For fast and safe depalletizing, the mechanical stop 6 can be positioned vertically along the limiting structure 7. Positioning can be done either manually or motor-driven and is always based on the vertical position of the stacking level 12 from which a piece goods 1 is to be picked up. The wall-like limiting structure 7 serves to protect against the piece goods 1 to be picked up from tipping over completely and ensures careful and damage-free individual picking of the piece goods with the aid of the gripping device 2.

[0031] In the Figures 4 a, bis a side and oblique view of a stack assembly 11 and of a support structure 13 arranged directly behind the stack assembly 11, to which a mechanical stop 6 is attached, which is adjustable in height (z) and horizontally (x), and a limiting structure 7 is fixedly attached. The support structure 13 consists of a frame, the size and shape of which are adapted to the size and shape of the stack assembly 11 with a corresponding excess. The profile frame-like support structure 13 is preferably dimensioned so large that the stack assembly 11 arranged on a pallet 18 can be moved through the profile frame-like support structure 13, provided that the mechanical stop 6 and the support plate-like fastening structure 7 have been moved to the highest vertical position.This offers advantages in terms of space savings as well as faster exchange of empty and full pallets.

[0032] The unit, consisting of the mechanical stop 6 and the support-plate-like limiting structure 7, can be positioned vertically (z) along a vertical guide rail 14, and can be positioned horizontally (x) by means of two horizontal guide rails 15, at least one of which is motor-driven. With the aid of the motor-driven horizontal guide rails 15, the mechanical stop 6 and the limiting structure 7, which is firmly connected to it and designed as a support plate, can be individually moved or positioned to the rear lower edge 5 of each piece of goods 1 to be picked up.

[0033] Belt drives are preferably suitable as a drive unit for the vertical adjustment of the mechanical stop 6 and the support plate-like fastening structure 7 along the profile frame-like support structure 13, as they provide a fast drive and are able to cover long distances in a short time.

[0034] It often happens that in real stacked structures 11 the position of the individual piece goods 1 deviates from an ideal vertical and horizontal relative alignment to one another. Figure 5a illustrates this. The piece goods 1 can be arranged in different stacking levels 12 with overhangs 16 or underhangs 17. Such positional deviations can be compensated for by the horizontal deflectability of the mechanical stop 6 together with the limiting structure 7.

[0035] In Figure 5b a uniform stack assembly 11 is illustrated, which projects laterally over a pallet 18. In Figure 5c A situation is shown in which a stack assembly 11 is smaller than the pallet size specified by the pallet 18. Due to the horizontal adjustability of the mechanical stop 6 with the limiting structure 7 permanently attached to it, such deviations from standard stack assembly can be individually compensated.

[0036] In addition to the horizontal and vertical guidance of the mechanical stop 6 and the limiting structure 7, it is possible to mount the stop 6 and the support plate-like limiting structure 7 on both horizontal linear guides 15 so that they can rotate around the vertical axis. This is the case in the embodiment according to Figure 6a and billustrated. By providing two vertical axis joints 19 and using two drives, e.g. linear drives along both horizontal linear guides 15, the mechanical stop 6 as well as the support plate-like limiting structure 7 can be positioned at any angle, see Figure 6b in order to gently tilt piece goods around the tilting axis, which are placed rotated relative to the vertical axis in the stack assembly 11.

[0037] In Figure 7 is a side view of a stack assembly 11 and the profile frame-like support structure 13, which additionally provides a sensor system 20, which in the embodiment according to the Figure 7is fixedly connected to the vertically (z) and horizontally (x) adjustable, support-plate-like fastening structure 7. The sensor system 20, preferably designed in the form of a camera, enables item localization and detection relative to the mechanical stop 6 and / or to the fastening structure 7. The fixed arrangement of the sensor system 20 and the mechanical stop 6 prevents blurring in the images or measured values.

[0038] In the Figures 8 a to f Image sequences for different tipping processes of a piece of goods 1 to be picked up are shown, in which the tipping process is additionally supported by a suction force acting on the piece of goods.

[0039] In the Figures 8a and bIn addition to the mechanical stop 6 and the gripping device 2 acting on the piece goods 1, a suction unit 21 is shown, which is arranged horizontally movable on an active linear actuating element 22. Before the rolling process begins, the piece goods 1 are sucked in the area above the tipping edge 6 on the rear side 8 with the suction unit 21. This is done by the active linear actuating element 22, which presses the suction unit 21 against the rear of the piece goods 1. Before and during the rolling process, a constant tensile force is exerted on the piece goods 1 by the active linear actuating element 22. Thus, a tipping moment is exerted by the suction unit 21 and the rolling process is considerably facilitated. In the case of Figures 8a and bThe tilting process supported by the pneumatic suction unit 21 is illustrated in conjunction with a spatially fixed, mechanical stop 6 and the gripping device 2 designed as a rolling gripper. In addition to the suction effect supporting the tilting process, the pneumatic suction unit 21 secures the piece goods from tipping over about the tilting axis KA, so that an additional fastening structure 7 can be dispensed with.

[0040] The pneumatic suction unit 21 supporting the tilting process can also be used in conjunction with a rotatably mounted mechanical stop 6, see the Figures 8c and d , realize. As in the already explained embodiment according to Figure 2a and b , relative movements between the mechanical stop 6 and the piece goods 1 to be picked up can be avoided due to the rotatable bearing by means of the single-axis pivot bearing 10.

[0041] In addition, the embodiment according to Figure 2c with a suction unit 21 having several individual suction elements, which are mounted as evenly as possible on the pivotably mounted plate-shaped boundary structure 7 ( Figure 8 e and f ).

[0042] On some pallets 18, see Fig. 9 a, the position or arrangement pattern of the piece goods 1 combined to form a stack 11 is designed such that chimneys 23 or gaps occur between the individual piece goods 1. In such cases, front piece goods 1* are not supported by rear piece goods 1** within a stack level 12. As a result, no counterforce from the rear wall can be transmitted to the front piece goods to be removed. In this case, the piece goods would be pushed backwards along the stack level 12 by the gripping device during the picking process, which could damage the individual piece goods. In this case, it is advisable to design the fastening structure 7 and the mechanical stop 6 as a narrow structural unit and to attach it to a spatial positioning unit 24, which makes it possible to position the mechanical stop 6 in such chimneys 23 orGaps are lowered vertically (z) at a suitable position and location so that the mechanical stop 6 can be attached along the rear lower edge 5 of the piece goods to be picked up. The in . Figure 9a The sword-like fastening structure 7' shown in side view, on the lower edge of which the mechanical stop 6 is attached, is in the Figures 9b , c and d in a view from behind, which illustrates the slim design of the fastening structure 7' and also represents a positioning option along the tilting axis KA (y) of the mechanical stop 6. In addition, such a sword-like fastening structure 7' or several such sword-like fastening structures 7' can be arranged along the positioning unit 24 for the purpose of removing individual piece goods, in order to individually support piece goods 1 of different widths, heights and depths for the purpose of the tilting process. List of reference symbols

[0043] 1Unit goods 2Gripping device 3Frictional engagement element 4Front 5Rear lower edge 6Mechanical stop 7Limiting structure 7Sword-like limiting structure 8Rear 9Distance 10Single-axis pivot bearing 11Stacking assembly 12Stacking level 13Support structure 14Vertical guide rail 15Horizontal guide rail 16Overhang 17Understand 18Pallet 19Vertical axle joint 20Sensors 21Pneumatic suction element 22Active linear actuator 23Chimney / gap 24Positioning unit KTilt axis

Claims

1. Device for depalletizing piece goods (1) arranged in a stationary stack arrangement (11) along individual stacking levels (12), with a gripping device (2) that can be positioned in space relative to the stack arrangement (11) and is capable of picking up piece goods individually by engaging one side of the piece good (1) and then tilting and moving under the piece good (1), wherein a spatially positionable, mechanical stop (6) is provided which can be positioned opposite the respective gripping device (2) on a piece good (1) to be picked up in the area of the stacking plane (12) of the piece good (1) and can be brought to bear on the piece good (1) and is designed in such a way that upon engagement of the gripping device (2) with the piece good (1) and simultaneous mechanical interaction between piece good (1) and the stop (6), a tilting moment orientated about a tilt axis (KA) defined by the mechanical stop (6) acts on the piece good (1), wherein the stop (6) is in the form of a strip and has a longitudinal strip extension, characterized in that a support structure (13) arranged immediately behind the stack arrangement (11) is provided, on which the mechanical stop (6) as a delimitation structure (7) attached permanently thereto are mounted so as to be adjustable both vertically (z) and horizontally (x), wherein the support structure (13) consists of a frame, whose size and shape is adapted to the size and shape of the stack arrangement (11) with a corresponding oversize, wherein the support structure (13) constructed in the manner of a profile frame is dimensioned with such a size that the stack arrangement (11) arranged on a pallet (18) can be moved through the support structure (13), if the mechanical stop (6) and the delimitation structure (7) designed in the form of a support plate has been raised to a highest vertical position.

2. Device according to Claim 1, characterized in that a delimitation structure (7) is combined with the stop (6) in such a way that the delimitation structure (7) is arranged opposite the gripping device (2) relative to the stop (6) in such a way that an untilted piece good (1) is separated from the delimitation structure (7) at least by the stop (6), and a tilted piece good (1) abuts the delimitation structure (7) and limits the tilting process.

3. Device according to claim 2, characterized in that the delimitation structure (7) is constructed in the form of a delimitation wall.

4. Device according to any one of Claims 1 to 3, characterized in that the delimitation structure (7) is arranged as a separate structural unit from the spatially positionable mechanical stop (6), or that the delimitation structure (7) is fixedly attached to the mechanical stop (6) and can be positioned in space together therewith.

5. Device according to Claim 1, characterized in that the mechanical stop (6) designed in the form of a strip is attached to the support structure (13) so as to be rotatable about an axis of rotation orientated in the longitudinal strip extension.

6. Device according to any one of Claims 1 to 5, characterized in that at least one sensor (20) is provided for detecting the relative position between at least one piece good (1) to be picked up from the stack arrangement (11) and the mechanical stop (6), the sensor signals of which can be fed to a control unit which monitors the spatial positioning of the mechanical stop (6) .

7. Device according to Claim 6, characterized in that the at least one sensor (20) is a sensor of the following type: optical, acoustic, capacitive or inductive distance sensor, spatially resolving image sensor, pressure sensor, motor current detector.

8. Device according to any one of Claims 1 to 7, characterized in that at least one pneumatic suction element (21) is designed and arranged and interacts with the gripping device (2) in such a way that the suction element (21), contacts the piece good (1) to be picked up opposite the gripping device (2) at a distance from the support plane, and exerts a tensile force on the piece good (1) that supports the tilting moment.

9. Device according to any one of Claims 1 to 8, characterized in that the gripping device (2) is designed in the manner of a roll-on gripper.