METHOD AND DEVICE FOR HANDLING PARTS MOVED IN AT LEAST ONE RANGE AFTER THE SECOND LINE

Description

[0001] The present invention relates to a method and a device for handling unit loads moved in at least one series in succession according to the features of the independent claims.

[0002] In known methods for packaging and / or palletizing individual items such as packages, containers, or the like, these items are first transported on conveyor systems running in a line and then moved, aligned, and / or assembled in a suitable manner to create desired layer patterns that can subsequently be stacked multiple times on top of each other, for example, on specially prepared pallets. These processing steps can be particularly useful in systems for handling beverage containers. The individual items in question can be, for example, packages, boxes, cartons, containers, or clusters. For the aforementioned pallets to be transport-safe, the assembled layer patterns, also referred to as assembled pallets, must meet certain requirements. Traditionally, preparatory measures are necessary to create such pallets, which may consist of, for example, placing the pallets regularly or incrementally on a so-called pallet.Allocation belts are used to group or collect individual items transported on an intermediate conveyor belt in order to transfer them, collected and / or grouped, to a layer formation belt or a layer formation table.

[0003] It is known from the prior art to transfer individual items from a metering belt to a conveyor belt, meaning that individual items are transferred from the metering belt to the conveyor belt. This transfer can be achieved by transferring each individual item onto the conveyor belt by means of a speed difference between the metering belt and the conveyor belt, whereby control by optical sensors such as light barriers is possible. It is also conceivable to transfer the items individually from the conveyor belt by moving the layering belt incrementally. To transfer individual items from the conveyor belt to the layering belt in this way, the layering belt can be moved in synchronized steps with the conveyor belt by exactly one item length in the direction of transport. These cycles or groupings can be implemented on the conveyor belt.Depending on the desired layer formation, parts of the grouped goods can also be rotated before being transferred to the layer formation conveyor.

[0004] For the design of grouping tables used to combine individual items such as cartons, shrink wrap, trays, and plastic crates, the state of the art offers various implementation options. For example, individual items can be grouped by arranging them into a two-dimensional formation (block formation, e.g., a pallet layer). A roller conveyor can be fed linearly from one or more aisles for this purpose. Depending on requirements, the individual items can be rotated before or on the roller conveyor and mechanically positioned on the conveyor by means of stop points. The items positioned in this way can then be discharged from the roller conveyor perpendicular to the direction of travel. The infeed, positioning, and discharge of the individual items can thus be considered a single cycle.At least one cycle is required to assemble a shift, but usually several cycles are needed. The partially discontinuous conveying, with its relatively abrupt changes in speed and direction, causes correspondingly high mechanical stress on the individual items, which can be detrimental to gentle processing.

[0005] Document EP 1 465 101 A2 discloses a device for arranging packaged goods for container palletizers. The container palletizer comprises at least one layer station and at least one palletizing station. The arranging device comprises at least one positioning station on which the packaged goods are arranged in at least one row with desired spacing during transport. The positioning station is connected to a supply conveyor associated with the layer station. Upstream of the positioning station, at least one accumulation conveyor is arranged, the positioning station having several conveyor sections arranged one behind the other in the transport direction, each with controllable and adjustable drives. The controllable and adjustable drives make it possible to achieve the desired spacing of the packaged goods. The arranging device has at least one monitoring device for determining and monitoring the spacing of the packaged goods.The construction of this well-known row-forming device is relatively elaborate and complicated, especially since it requires a large number of belts needed for spacing and / or rotating the packaged goods.

[0006] US Patent 5,123,231 A discloses a device for assembling articles into groups and subsequently packaging them. On a feed conveyor, the articles are fed at predefined intervals to a collection conveyor, where the groups are assembled from a consistent number of articles. The groups are then fed to a packaging unit by a subsequent conveyor.

[0007] EP 1 927 559 A1 discloses a grouping table for combining containers, in particular shrink packs, for layer formation, comprising a continuously driven conveyor, a stepping conveyor downstream of the conveyor which can be driven intermittently, a layer formation station arranged laterally next to the stepping conveyor and a push-off device assigned to the stepping conveyor which acts perpendicular to the conveying direction for transferring the containers in groups to the layer formation station.

[0008] US Patent 2005 / 0246056 A1 discloses a system for arranging packages in a layer that are subsequently placed or stacked on a pallet. The system comprises three conveyor belts arranged linearly. A first conveyor belt supplies the packages to the device. The packages are arranged linearly on this first conveyor belt. A second conveyor belt separates the packages. The packages then move to a third conveyor belt, where the final arrangement takes place. All three conveyor belts operate at different, but constant, speeds. Once a layer is fully assembled, it is transferred to the pallet.

[0009] Document WO 2017 / 182217 A1 discloses a method according to the preamble of claim 1 and a device according to the preamble of claim 9. It describes a method for handling unit loads moved in at least two parallel rows. In this method, at least two unit loads transported side by side in parallel rows are detected by a manipulator, spatially separated from the at least two parallel rows, and moved into a defined relative target position.

[0010] The known state of the art, illustrated by various documents, can have several disadvantages in practice. When filling gaps or transferring individual items between the metering belt, conveyor belt, and, if applicable, the layering belt, there is a risk that the respective speed differences and high acceleration and / or correspondingly steep deceleration ramps will prevent the items from being transferred with the desired precision. Individual items can even rotate away from their predetermined positions. Furthermore, the frictional resistance between the respective conveyor belt and the underside of the individual item plays a significant role, resulting in gaps between cycles that are not precisely reproducible and can vary. Additionally, a loss of throughput can occur due to the distance that individual gaps must travel during the so-called...The process of aligning the feeder conveyor with the transport conveyor results in a change in the pallet's position. All these effects increase the time required to create a pallet.

[0011] To avoid these disadvantages, EP 2 107 018 A1 proposes a method and a device for the safe, rapid, and high-quality provision of batches of containers and / or groups of containers, thus enabling the efficient creation of the rows for the layers of a pallet. The proposed device is used for assembling and aligning groups of containers and comprises a metering belt, a conveyor belt, and a row or layer formation belt. The metering belt, the conveyor belt, and the row or layer formation belt are each driven by their own motor. A control system regulates the speed of the metering belt so that the containers or groups of containers transported edge-to-edge on the metering belt can be divided into several batches of containers or groups of containers on the conveyor belt.Predefined gaps are created between the individual cycles. A robot can be assigned to the row or layer formation conveyor, which can shift and / or rotate the incoming cycles from the conveyor belt in the transport direction or perpendicular to the transport direction for layer formation. Furthermore, the layer formation conveyor should enable the production of a layer consisting of several rows.

[0012] From DE 10 2011 080 812 A1, a method for forming palletizable layers from adjacent unit loads at a layer formation station is further disclosed. The layer formation station is assigned a program-controlled manipulator for picking up and / or transferring individual or multiple unit loads at at least two spatially separated and / or spatially offset feed stations and for positioning them by rotating and / or moving the unit loads into predefinable release positions at the layer formation station.

[0013] Such manipulators, or robots assigned to the layering conveyors, can be designed, for example, as multi-axis robots, as known, for instance, from DE 10 2009 026 220 A1 in connection with the grouping of articles or beverage containers. A frequently used variant of such manipulators are so-called gantry robots, which are often used in modular construction in packaging lines, grouping units, or palletizing stations. A conveyor belt running horizontally in the longitudinal direction of the conveying plane or another continuously circulating medium is frequently used as the transport means or conveying element, on which the items and / or the packaging are arranged in predetermined positions or even in randomly assumed positions. Such a module is known, for example, from DE 10 2009 043 970 A1. The gantry robots typically used in such modules can, for example,equipped with gripping devices for laterally grasping the items to be handled and manipulated, as are known, for example, from DE 10 2010 020 847 A1.

[0014] A primary objective is to enable the precise positioning of individual items, packages, containers, and / or articles, particularly for the smoothest and most reliable layering, palletizing, and / or packaging preparation possible. A secondary objective, which is becoming increasingly important, is to reduce cycle times without compromising the already achieved level of precision or reliability. The process should enable the handling of individual items that are transported or conveyed in at least one continuous row. Furthermore, the process should be able to operate at higher speeds than previously possible without any negative impact on positioning precision or the reliability of handling the individual items.The corresponding device should be operable faster than the manipulation devices known from the prior art, and this with at least approximately the same reliability and approximately the same positioning precision.

[0015] These objectives of the invention are achieved by the subject matter of the independent claims, i.e., by a method and a device for handling unit loads moved in at least one successive row, which comprise the features of the independent claims. Features of advantageous embodiments of the invention are described in the respective dependent claims.

[0016] The invention relates to a method according to claim 1 and a device according to claim 9 for handling unit loads moved in at least one successive row. In this process, the unit loads are fed directly one after the other, without spacing, as a closed formation in a transport direction to a first handling module with a first manipulator for handling unit loads in a first detection area associated with the first manipulator. The device comprises at least one transport unit by which directly successive unit loads in the row are transported as a closed formation at a transport speed in one transport direction and / or fed to the first handling module, either without spacing or with a minimal spacing optionally required for production purposes.

[0017] The term "closed formation" refers to a largely uninterrupted sequence of individual items transported one after the other. A closed formation can be transported as an endless formation, without breaks, and comprising any number of individual items. Depending on the production process, small, undesirable gaps may occur between the individual items within the closed formation. Such minimal gaps generally do not interfere with the handling of the items, so even in this case, it is still referred to as a closed formation.

[0018] Unit loads can consist of items, packages, container assemblies, bundles, cartons, or similar items moved in a series. For example, a number of identical or different items may be grouped into a container or mixed container by means of cardboard packaging, strapping (or multiple straps), film packaging, adhesive bonds, or similar methods. Furthermore, a number of beverage containers held together, for example, by shrink wrapping, strapping (or multiple straps), can each constitute a unit load. Depending on the requirements of subsequent handling equipment, the unit loads moved in a series can be identical or different.

[0019] It is provided that, prior to the entry of the unit loads into the at least one first handling module, units consisting of at least two unit loads moved in succession are formed. The unit loads within the units are arranged consecutively without gaps. The unit loads of the units form at least two unit load cycles, with each cycle comprising at least one unit load. It is provided that a first portion of the unit loads – hereinafter also referred to as the first unit load cycle – is moved to a first target position and / or target arrangement, and that at least a second portion of the unit loads – hereinafter also referred to as the second unit load cycle – is moved to a second target position and / or target arrangement. The second target position and / or target arrangement is positioned and / or configured at a distance from the first target position and / or target arrangement.

[0020] The arrangement of the individual items of the first item handling cycle and the individual items of the at least one second item handling cycle in their respective target positions and / or arrangements can each be carried out within the first handling module of the device. One embodiment of the method provides that both item handling cycles are detected and handled accordingly in successive manipulation steps by a suitable first manipulator. Another embodiment provides that only one of the cycles is manipulated and / or handled by the first manipulator, while the individual items of the unit forming the at least one other cycle are transported through the at least one first handling module without being manipulated and / or handled.

[0021] The individual items from at least one other cycle can, for example, be manipulated and / or handled in a subsequent processing module and thereby transferred to the second target position and / or target arrangement. Alternatively, the individual items from at least one other cycle can already be in the desired second target position and / or target arrangement simply by separating the unit from the closed formation and separating the individual items from the first cycle. In this case, further manipulation and / or handling of the individual items from at least one other cycle can be omitted.

[0022] The invention provides that a first part of the unit's components is moved to a first target position and / or target arrangement within the first handling module. In contrast, a second part of the unit's components is transported through the at least one first handling module to a downstream second handling module without being manipulated or handled within the first handling module. Instead, the second part of the unit's components is moved to a second target position and / or target arrangement within the second handling module.

[0023] The formation of units comprising individual items for at least two cycles or individual items for arrangement in at least two different target positions and / or target arrangements takes place within a cycle formation module. The cycle formation module is located between a transport device that feeds the individual items in a continuous formation and the first handling module. Within the cycle formation module, a unit is formed from a defined number of individual items, whereby the individual items of the unit are moved to at least two target positions and / or target arrangements that are spaced apart from each other. In particular, an initial portion of the unit's individual items, especially at least one item of the unit that constitutes a first cycle, is moved to a first target position and / or target arrangement.

[0024] Furthermore, at least a second part of the unit's components, in particular at least one other component of the unit forming a second stage, is moved to a second target position and / or target arrangement. This preferably occurs in at least two successive process steps or manipulation steps.

[0025] According to a preferred embodiment of the invention, a unit comprises two unit handling cycles, i.e., a number of unit items that are handled in exactly two successive process steps or manipulation steps and / or moved to two different target positions and / or target arrangements. Particularly preferably, one of the process steps takes place within the first handling module, while the second process step is carried out within the second handling module.

[0026] If a palletizable layer of individual items is assembled from a plurality of individual items within the device, a preferred embodiment provides that the units formed each comprise fewer individual items than the palletizable layer of individual items to be formed. That is, a layer of individual items to be formed comprises the individual items of a plurality of units, in particular at least two units.

[0027] When forming the units, a defined number of individual items are spatially separated from the trailing items of the closed formation. This is preferably achieved by moving the items to be separated in the direction of transport. According to one embodiment, the formed units each comprise the same number of items, from which corresponding item cycles are taken. Preferably, the formed units are each created individually and each comprises a number of items sufficient for at least two handling cycles, taking into account that different quantities of items may be manipulated and / or handled in different handling steps.For example, it is envisaged that the formed unit consists of two items moved one after the other, with one of the items being moved within the first handling module to the first target position and / or target arrangement, while the other item being moved within the second handling module to the second target position and / or target arrangement.

[0028] According to one embodiment, the indexing module for forming the units comprises a transport unit for individual items arranged upstream of the first handling module. The transport unit is formed, for example, by a conveyor belt or similar device that is aligned with the transport device and moves in the same transport direction and essentially at the same conveying speed. After the corresponding number of individual items forming a unit has transferred from the transport device to the transport unit of the indexing module, the conveying speed of the transport unit of the indexing module is increased, at least briefly.

[0029] This causes the unit loads arranged on the transport unit of the timing module to move at a speed increased compared to the transport speed of the closed formation, thereby creating a distance to the following unit loads of the closed formation and spatially separating the unit loads arranged on the transport unit as a unit from the following unit loads of the closed formation.

[0030] According to an alternative embodiment, the cycle formation module comprises a cycle formation manipulator. This manipulator detects a corresponding number of individual items forming a unit of at least two unit load cycles and preferably applies a movement component in the transport direction to these items in order to spatially separate the individual items of the unit from the downstream individual items of the formation. The cycle formation manipulator can, for example, be a robot with a gripper head. It can be provided that the individual items are detected by the gripper head and moved in the direction of the first handling module. This movement can, in particular, be aligned with the individual items of the formation in the transport direction.

[0031] If necessary, the indexing manipulator can also apply a lateral movement component to the unit's components, so that the components are fed to the first handling module laterally offset from the components in the formation. An indexing manipulator can also be used if the components are subsequently moved further within the first handling module, for example, in a transport direction rotated by 90 degrees. Such an arrangement of the device modules can be advantageous, for example, when space is limited.

[0032] The timing module can be assigned at least one suitable detection device, for example, a sensor, in particular a camera with image processing or similar, which monitors the formation of the units. Specifically, the sensor detects when a number of the unit-forming components are arranged within the timing module and transmits this information to a control unit. The control unit then activates the separation of the units from the subsequent components in the formation by appropriately regulating and controlling the transport unit or the timing manipulator.

[0033] The first handling module comprises a first manipulator. The first manipulator has a first detection area. Within this first detection area, the first manipulator can detect, manipulate, and / or handle individual items from the unit. The first manipulator can pick up individual items from the unit, separate them from other items within the unit, and move the detected items of the respective item batch to a target position within its first detection area. This is done primarily in sequential manipulation steps.

[0034] Preferably, the first handling module comprises a first horizontal conveying device. This is preferably a conveyor belt or similar device, which is arranged in alignment with the transport device. The first horizontal conveying device is preferably operated at a conveying speed and in a conveying direction that correspond to the transport speed and in the transport direction of the supplying transport device. That is, the units are moved within the first horizontal conveying device at the same conveying speed as the individual items in the formations.

[0035] The first manipulator is designed to grip and receive at least one unit of goods from a unit of goods. The at least one unit of goods gripped by the manipulator constitutes the first part or first unit of goods cycle and is spatially separated from the remaining units of goods in the unit. The at least one unit of goods constituting the first cycle is transferred by the manipulator to a first target position and / or orientation within the first handling device and released by the manipulator in this target position and / or orientation.

[0036] When the at least one unit is captured and / or picked up from the pre-formed unit, the captured unit is not normally slowed down in its movement in the transport direction. Instead, after being captured by the first manipulator of the device, the at least one unit receives at least one additional velocity and / or directional component to separate the at least one unit of the captured first segment from the remaining units of the unit, which constitute at least one second segment or, if applicable, further segments.

[0037] In particular, it may be provided that at least one of the unit's forward-moving general cargo items is detected as the first unit and moved within the at least one first handling module to the first target position and / or target arrangement. It is specifically stipulated that the speed component must not be negative compared to the speed of the unit's following general cargo items, and the direction component must not be opposite to the direction of transport of the unit's following general cargo items. Otherwise, there would be a risk of collision between the detected general cargo item and the unit's following general cargo items.

[0038] According to a further embodiment, at least one of the unit's trailing units in the transport direction can be detected as the first unit and moved within the at least one first handling module into the first target position and / or target arrangement. In this case, the speed component can be, at least briefly, negative relative to the speed of the unit's leading units and relative to the following units in the formation; that is, the speed of the detected unit is slowed down relative to the remaining units in the unit. This allows the direction component of the detected unit to be briefly opposite to the transport direction of the following units in the formation, whereby care must be taken to ensure that no collision occurs between the detected unit and the following units.

[0039] An alternative embodiment of a unit comprising at least three pick-up unit loads can provide that at least one central unit load is picked up as the first load and moved within the at least one first handling module to the first target position and / or target arrangement. In particular, it is provided that the picked-up unit load first receives a movement component perpendicular to the transport direction in order to spatially separate the picked-up unit loads from the other unit loads or load loads of the unit.

[0040] When a target position and / or target orientation is mentioned in connection with the present invention, this can in particular mean that the individual items can be detected, moved and / or rotated by the respective manipulator, whereby the individual items can optionally only be moved (without rotation) or only rotated (without displacement).

[0041] When referring to an unchanged or new orientation, this refers in particular to the angular orientation of the previously detected and moved and / or shifted and / or rotated items by the manipulator in connection with the device described here.

[0042] In the present context, the term "grasping" usually refers to the physical, form-fitting and / or force-fitting and / or clamping grasping of a piece of goods or several pieces of goods simultaneously, as well as their handling until the target position and / or target alignment is reached.

[0043] One embodiment further provides that the at least one item comprising the at least one second cycle of the unit is gripped in a subsequent manipulation step by the first manipulator of the first handling module by clamping and / or frictional and / or positive locking and moved into the second target position and / or target arrangement. If the unit comprises more than two item cycles, the at least one item of the second cycle is separated from the other items of the at least one further (third, etc.) cycle of the unit.

[0044] The invention provides that the at least one unit item of at least one cycle of the unit is not detected, manipulated, and / or handled by the first manipulator, but instead is continuously moved within the first handling module in the transport direction to a downstream second handling module or another suitable processing module. These unit items pass through the first handling module in the transport direction without being manipulated directly or indirectly in their relative position within the first handling module, in particular relative to the unit items of the unit that have been moved into a corresponding target position and / or target arrangement, or to the subsequent unit items of the closed formation.

[0045] The device comprises a second handling module, which is positioned downstream of the first handling module in the transport direction. The second handling module comprises a second manipulator, which is designed to clamp and receive the at least one remaining unit item of the unit, in particular the at least one unit item from the at least one second unit item cycle of the unit.

[0046] The at least one remaining item of the unit constitutes, in particular, the at least one second stage of the unit. The invention provides that the first manipulator in the first handling module picks up a first stage of the unit, spatially separates it from the other items of the unit, and moves it to a first target position and / or target arrangement within the first handling module.

[0047] Meanwhile, the remaining individual items of the unit are continuously moved in the transport direction towards the second handling module. The second batch of items is detected by the second manipulator of the second handling module and transferred to a second target position and / or orientation within the second handling module. Preferably, the first and second handling modules are identically designed modules, for example, grouping modules or rotary systems and / or distribution systems.

[0048] According to the invention, it is provided that the unit entering the first detection area of ​​the first handling module, consisting of at least two unit load cycles, and / or the unit loads entering the second detection area of ​​the second handling module, in particular the unit loads of at least one first cycle of the unit that have been moved into a corresponding target position and / or target arrangement, and / or the unit loads of at least one second cycle of the unit that have not been manipulated within the first handling module within the first detection area and / or within the second detection area, are moved continuously in the transport direction after release by the manipulator - if applicable.

[0049] In particular, the unit loads are moved at a conveying speed that corresponds to the transport speed of the unit loads in the closed formation. Specifically, the process can optionally or additionally provide that the at least one unit load of a cycle detected by the first or second manipulator, upon reaching or immediately after reaching its target position and / or orientation, can be transported further without interruption and / or change of speed and / or direction after release by the first or second manipulator.

[0050] Preferably, the described device is used to assemble at least one palletizable layer arrangement or layer of individual items from a plurality of individual items. According to a preferred embodiment, at least one palletizable layer arrangement or layer of individual items is assembled from a plurality of individual items within the handling module and / or within the second handling module. The resulting palletizable layer arrangement or layer of individual items may still contain gaps between the individual items.

[0051] The compact, palletizable layer is preferably completed in a subsequent palletizing module by pushing the individual items together before the subsequent palletizing.

[0052] An alternative embodiment may provide that, in a device with two handling modules, the arrangement of unit loads by the first manipulator in the first handling module and the arrangement of unit loads by the second manipulator in the second handling module serve to form a common layer of unit loads, which is then fed to the palletizing module for further processing.

[0053] In the inventive method and device, it is particularly provided that unit loads are fed in as a continuous, closed formation. However, before the unit loads are manipulated and / or handled in a corresponding handling module according to the subsequent processing, a so-called indexing process takes place. Indexing refers to the separation of unit load units, wherein each unit load unit consists of at least two unit load cycles to be processed subsequently within the device.

[0054] Each unit load cycle includes at least one unit load that occupies a target position and / or target arrangement that is spaced apart from the target position and / or target arrangement of unit loads from other unit load cycles.

[0055] Even when subsequent processing of the unit load cycles or cycles is mentioned, it can optionally be provided that the unit loads of a cycle are fed to a subsequent processing module without further manipulation and / or handling, for example, because the positioning achieved by separating the unit from the closed formation already corresponds to the correct positioning for subsequent processing. The unit loads within the formed two-cycle or multi-cycle units are arranged seamlessly one after the other. The first manipulator of the at least one first handling module picks the unit loads from the unit cycle by cycle.

[0056] The pre-cycling described here, i.e., the formation of two-stroke units or the formation of multi-stroke units, serves to increase the performance of the device, particularly when using a standard infeed. Especially in embodiments where at least the individual items of a unit's cycle do not require further manipulation, the processing time within the at least one handling module can thus be reduced.

[0057] The following exemplary embodiments of the invention and its advantages will be explained in more detail with reference to the accompanying figures. The relative sizes of the individual elements in the figures do not always correspond to the actual relative sizes, as some shapes are simplified and others are enlarged for better illustration. Figures 1 to 7The figures schematically show a temporal sequence of a method according to the invention for handling unit loads moved in at least one row in succession by a corresponding handling device in a top view. Fig. 8 Figure 1 shows a further handling device for carrying out the method according to the invention in a top view. Fig. 9 Figure 1 shows a handling device for carrying out the method according to the invention in a side view. Figures 10 to 13 The figures schematically show a further embodiment of a temporal sequence of a method according to the invention for handling unit loads moved in at least one row in succession by a corresponding handling device in a top view. Figures 14 to 18The figures schematically show a further embodiment of a temporal sequence of a method according to the invention for handling unit loads moved in at least one row in succession by a corresponding handling device in a top view.

[0058] Identical reference numerals are used for identical or equivalently functioning elements of the invention. Furthermore, for the sake of clarity, only those reference numerals necessary for describing the respective figure are shown in the individual figures. The illustrated embodiments merely represent examples of how the device or method according to the invention may be configured and do not constitute an exhaustive limitation.

[0059] The Figures 1 to 7The figures schematically show a temporal sequence of a method according to the invention for handling unit loads 2 moved in at least one row 1 one after the other by a corresponding handling device 10 in a top view.

[0060] The handling device 10 comprises at least one first transport device 3 for feeding the unit loads 2. According to the Figures 1 to 7 In the illustrated embodiment of the handling device 10, two parallel transport devices 3, 3a, 3b are provided, via which immediately successive unit goods 2 in two parallel rows 1, 1a, 1b are fed uninterrupted and / or with continuous transport speed v3 in a transport direction TR as a so-called closed formation F, Fa, Fb in the direction of a grouping module 20 of the handling device 10.

[0061] The transport devices 3, 3a, 3b are each formed, for example, by a conveyor belt or other suitable conveying device on which the unit goods 2 are preferably transported in a single row, wherein there are no gaps or distances between directly successive unit goods 2 or only a minor gap, possibly process-related, gaps or distances.

[0062] Furthermore, the handling device 10 comprises a first handling module in the form of a grouping module 20. The grouping module 20 includes a horizontal conveying device 23, which, like the transport device 3, is formed, for example, by an endless conveyor belt. Preferably, the unit loads 2 within the grouping module 20 are moved continuously by the horizontal conveying device 23 at a speed that corresponds to the transport speed v3 of the transport device(s) 3, 3a, 3b.

[0063] The grouping module 20 is equipped with a movable, sliding and / or rotatable manipulator 21. The manipulator 21 has a detection area 22. The manipulator 21 is designed to detect at least one unit item within its detection area 22, to spatially separate it from flanking unit items 2, to move it to a target position and / or target arrangement within the detection area 22, and to release it there.

[0064] The manipulator 21 is designed to clamp and receive individual items 2 within its detection range 22.

[0065] Before the unit loads 2 enter the grouping module 20 from the transport device 3, 3a, 3b, units 5 are formed, each comprising at least two unit loads 2. The units 5 comprise, in particular, a number of unit loads 2 that are successively detected by the manipulator 21 of the grouping module in two process steps or manipulation steps and moved to different target positions and / or target arrangements within the grouping module 20.

[0066] The at least one unit item 2 of unit 5, or the group of at least two unit items 2 of unit 5, captured by the manipulator 21 in a first manipulation step, is also referred to as the first cycle 6. The at least one unit item 2 of unit 5, or the group of at least two unit items 2 of unit 5, captured by the manipulator 21 in a second manipulation step, is also referred to as the second cycle 7.

[0067] The units 5 are separated from the closed formation F, Fa, Fb by a cycle formation module 40. In particular, a cycle formation module 40a, 40b is arranged between each of the supplying transport devices 3, 3a, 3b and the grouping module 20. Within the cycle formation module 40, 40a, 40b, a corresponding number of unit loads 2, each forming a unit 5 for at least two handling steps, are spatially separated from the following unit loads 2 of the closed formation F, Fa, Fb.

[0068] Preferably, the cycle formation module 40, 40a, 40b is each formed by a transport unit 41. This is, for example, a so-called grouping conveyor 42. This grouping conveyor 42 generally moves at the same speed as the feeding transport device 3, 3a, 5b. After the number of unit loads 2 forming unit 5 has transferred to the grouping conveyor 42, the speed of the grouping conveyor 42 is briefly increased relative to the transport speed v3 of the transport device 3, 3a, 3b, so that the unit loads 2 of unit 5 are spatially separated from the following unit loads 2 of the closed formation F in the transport direction TR.

[0069] It may be provided that the last unit 2 of the unit 5 to be formed, in the transport direction TR, is still partially located on the transport device 3, 3a, 3b. However, due to the increase in speed of the grouping belt 42, this last unit 2 is accelerated together with the other unit 2s of the unit 5.

[0070] The tempo formation module 40 (only in Fig. 1 (and shown only as an example for the clock formation module 40a) at least one suitable detection means 26, for example a sensor 27, in particular a camera with image evaluation or similar, can be assigned, which monitors the formation of the units 5.

[0071] In particular, the sensor 27 detects when a number of unit goods 2 forming unit 5 are arranged within the cycle formation module 40a and transmits the information to a control device 25. The control device 25 activates the separation of the units 5 from the subsequent unit goods 2 of the formation Fa by appropriately regulating and controlling the transport unit 41, in particular by briefly increasing the speed of the transport unit 41.

[0072] As in Fig. 1As shown, in the cycle formation module 40a, a unit 5, 5b comprising four unit loads 2 is separated from the formation Fb by means of the grouping conveyor 42, wherein the two unit loads 2 of unit 5b arranged at the front in the transport direction TR form the first cycle 6b, and wherein the two unit loads 2 of unit 5b trailing in the transport direction TR form the second cycle 7b. In a first manipulation step, the manipulator 21 grasps the two unit loads 2 of unit 5b arranged at the front and moves this first cycle 6b by means of a rotation by 180 degrees into a first target position and / or target arrangement P1 ( Fig. 2 ).

[0073] Meanwhile, in the cycle formation module 40a, a unit 5, 5a comprising three unit loads 2 is separated from the formation Fa by means of the grouping conveyor 42, wherein the unit load 2 located at the front in the transport direction TR forms the first cycle 6a of unit 5a, and wherein the two unit loads 2 trailing in the transport direction TR form the second cycle 7a of unit 5a. In a second manipulation step, the manipulator 21 detects the foremost unit load 2 of unit 5b ( Fig. 3 ) and spends this first beat 6a by means of a 90-degree turn into a second target position and / or target arrangement P2 ( Fig. 4 ).

[0074] In a subsequent third manipulation step, the manipulator now detects the unit loads 2 of the second cycle 7b according to Fig. 1 formed unit 5b and moves it by shifting it in the transport direction TR coupled with a lateral movement component to a third target position P3 ( Figure 6and 7 In a subsequent fourth process step (not shown), the unit loads 2 of the second cycle 7a of the process according to Fig. 2 formed unit 5a is captured and moved to a fourth target position and / or target arrangement.

[0075] The embodiment illustrates that the two successive process steps for manipulating the unit goods 2 of a first unit 5, 5b do not have to follow each other directly, but that a further manipulation step can be carried out in between, in which unit goods 2 of a second unit 5, 5a are handled by the manipulator 21.

[0076] When handling the units 6a, 6b, 7a, 7b by the manipulator 21, for example, a rotational movement of the manipulator 21 about a preferably approximately vertical axis can take place, so that the unit 6a, 6b, 7a, 7b detected by the manipulator 21 is rotated accordingly on the individual items 2. Fig. 4In particular, a rotation of 90 degrees takes place, so that the unit load 2 of the first cycle 6a of unit 5a released in the second target position and / or target arrangement P2 has an orientation rotated by 90 degrees relative to the following unit loads 2 of the closed formation Fa.

[0077] Alternatively, for example, the unit loads 2 detected by the manipulator 21 can be shifted aligning with the transport direction TR or laterally. The lateral shifting preferably includes a movement component in the transport direction TR. During shifting, the unit loads 2 released by the manipulator 21 in the respective target position and / or target arrangement retain the same orientation as the unit loads 2 of the closed formation F, but no longer move in alignment with the subsequent unit loads 2 of the closed formation F. This is achieved, for example, by the arrangement of the unit loads 2 of the second unit load 7b of unit 5b in the third target position and / or target arrangement P3 according to Fig. 7 depicted.

[0078] During the positioning of the units 6a, 6b, 7a, 7b detected by the manipulator 21, the feeding transport device 3, 3a, 3b, the respective grouping belt 42, and the horizontal conveyor 23 continue to operate at a constant speed, whereby the grouping belt can be briefly accelerated as needed to form further units 5. The speed v3 is selected such that the manipulator 21 has sufficient time within its available working area, in particular within its detection range 22, to manipulate and / or handle and move the unit parts 2. Preferably, the first manipulator 21 consists of a delta kinematic robot, a tripod, or similar device to enable highly dynamic displacement movements and the fastest possible cycle times.

[0079] Alternatively, it could be provided that the manipulator 21, for example, only detects and handles the unit items 2 of one of the cycles 6a, 6b, 7a, 7b of a unit 5, while the unit items 2 of the respective other cycle pass through the grouping module 20 in the transfer direction without further manipulation. This can be used, for example, for embodiments with two grouping modules 20, 30 arranged one after the other (compare Figures 10 to 18 ) may be advantageous, or if the unit goods 2 of the respective unmanipulated cycle are already positioned relatively within the grouping module 20 in a suitable manner for subsequent handling by further processing modules (not shown).

[0080] The Fig. 8Figure 1 shows a further handling device 10 for carrying out the method according to the invention in a top view. Here, the unit loads 2 are fed to the indexing module 40 in a row 1 as a closed formation F. In this case, the indexing module 40 comprises an indexing manipulator 43, which is formed, for example, by a robot 44 or similar device and has a gripper 45.

[0081] The incremental manipulator 43 detects a number of unit goods 2 corresponding to the unit 5 to be formed and separates them from the closed formation F, in particular by applying an increased velocity component to the detected unit goods 2 of the unit 5 to be formed in the transport direction TR. In this case, a unit 5-1 consisting of four unit goods 2 is first separated from the formation F, with two unit goods 2 each forming the first increment 6 and the second increment 7 of unit 5-1. In a first manipulation step, the manipulator 21 moves the two unit goods 2 of the first increment 6 of unit 5-1 laterally into a first target position and / or target arrangement P1.

[0082] Subsequently, in a second manipulation step, the manipulator 21 moves the two unit parts 2 of the second cycle 7 of unit 5-1, rotating them 90 degrees, into a second target position and / or target arrangement P2. Simultaneously, within the cycle formation module 40, another unit 5-2 consisting of four unit parts 2 is spatially separated from formation F by the cycle formation manipulator 43. It is stipulated that the first cycle 6 of unit 5-2 comprises one unit part 2 and that the second cycle 7 of unit 5-2 comprises three unit parts.

[0083] In a third manipulation step, the manipulator 21 moves the one item 2 forming the first beat 6 of unit 5-2 by rotating it 90 degrees into a third target position and / or target arrangement P3, in order to process three item 2 comprising the second beat 7 of unit 5-2 accordingly in a subsequent fourth manipulation step (not shown).

[0084] The Fig. 9Figure 10 shows a handling device for carrying out the method according to the invention in a side view. A process step is shown in which a unit 5 consisting of four unit goods 2 has been formed by the indexing module 40. The unit 5 comprises two indexes 6 and 7, each comprising two unit goods 2. Fig. 9 The manipulator 21 is shown capturing the two items 2 of the first cycle 6.

[0085] The examples of implementation of Figures 1 to 9This illustrates that the formed units 5 can each contain a different number of individual items 2. This depends in particular on the required size of the cycles 6, 7 for further processing. Furthermore, it becomes clear that even with the same number of individual items 2 within several units 5, the number of individual items 2 successively picked up by unit 5, which each form cycles 6, 7, can differ depending on the requirements of the subsequent processing.

[0086] Thus, a unit 5 comprising four unit goods 2 can, for example, consist of two cycles 6 and 7, each comprising two unit goods 1. Conversely, a unit 58 comprising four unit goods 2 can also have a first cycle 6 comprising one unit goods 2 and a second cycle 7 comprising three unit goods 2, and so on.

[0087] Even if in connection with the Figures 1 to 9It has always been described that the unit loads 2 of the first unit 6 of the unit 5, which is advancing in the transport direction TR, are first detected and handled by the manipulator 21, alternatively it can be provided that at least one of the unit loads 2 of a unit 5, which is trailing in the transport direction TR, is detected as the first unit 6 and moved into a corresponding target position and / or target arrangement.

[0088] Furthermore, it may be provided that a unit 5 is formed from more than two cycles 6, 7. If, for example, a unit 5 comprises a number of unit items for three cycles, an embodiment may provide that at least one central unit item 2 of the unit 5 is captured as the first cycle 6 and is spatially separated from the remaining unit items 2 of the unit.

[0089] The Figures 10 to 13The figures schematically show a further embodiment of a temporal sequence of a method according to the invention for handling unit loads 2 moved one after the other in at least one row 1 by a corresponding handling device 10 in a top view. Analogous to the Figures 1 to 7 In the embodiment shown here, the unit loads 2 are fed in two parallel rows 1a, 1b, each in a continuous formation Fa, Fb, to a first handling module in the form of a first grouping module 20. Upstream of the grouping module 20, units 5 of unit loads 2 are separated for subsequent processing within the grouping module 20.

[0090] Furthermore, it is provided that a second handling module in the form of a second grouping module 30 is subordinate to the first grouping module 20 in the transport direction TR, which includes a second manipulator 31 and a second horizontal conveying device 33, wherein the second manipulator 31 has a second detection area 32, within which it can detect unit loads 2 and move them into a suitable target position and / or target arrangement.

[0091] In this embodiment, for example, it is provided that a unit 5b comprising four individual items 2 is separated from the formation Fb. The unit 5b is moved further in the transport direction TR and enters the first detection area 22 of the first manipulator 21 ( Fig. 10In a first manipulation step, the manipulator 21 spatially separates a first unit 6b comprising two unit goods 2 from the remaining unit goods 2 of unit 5b and transfers this first unit 6b by rotating it 90 degrees into a first target position and / or target arrangement P1 ( Fig. 11 ).

[0092] Meanwhile, within the cycle formation module 40a, a single cycle unit 8 comprising three unit goods 2 is spatially separated from the formation Fa and transferred to the first grouping module 20. In a second manipulation step, the manipulator 21 grasps the three unit goods 2 of the single cycle unit 8 together ( Fig. 12 ) and transfers these to a second target position and / or target arrangement P2 ( Fig. 13 ).

[0093] Meanwhile, a further unit 5b comprising three items 2 is separated from the formation Fb, from which the manipulator 21 first picks up one item 2 as the first unit 6 and, by rotating it by 90 degrees, moves it to a third target position and / or target arrangement P3 ( Fig. 13 ).

[0094] While the manipulation steps described above take place within the first grouping module 20, the individual items 2 of the second cycles 7b, 7 of the formed units 5b within the first grouping module 20 are moved continuously and in alignment to the formation Fb in the transport direction TR via the first horizontal conveyor 23. After the individual items 2 of the second cycles 7b, 7 of the formed units 5b transfer to the second grouping module 30, they are gripped by the second manipulator 31 within the second detection area 32 by clamping and / or force-locking and / or form-locking ( Fig. 13) and moved by the second manipulator 31 within the second grouping module 30 into a corresponding target position and / or target arrangement (not shown).

[0095] Individual process steps can also provide that the unit goods 2 of both cycles 6 and 7, forming a unit 5, are detected and handled in the first grouping module 20 by the first manipulator 21. Alternatively, individual process steps can also provide that the unit goods 2 of both cycles 6 and 7, forming a unit 5, are detected and handled only in the second grouping module 30 by the second manipulator 31.

[0096] In connection with all the aforementioned manipulation steps, it is intended that the unit loads 2, moved into a target position and / or target arrangement within the first grouping module 20 and / or within the second grouping module 30 – if necessary after release by the respective manipulator 21, 31 – continue to be moved continuously in the transport direction TR. In particular, the movement takes place via the first horizontal conveyor 23 and / or the second horizontal conveyor 33 at a conveying speed that corresponds to the transport speed v3 of the unit loads 2 of the closed formation F, Fa, Fb. Thus, the relative position of the unit loads 2 moved into a target position and / or target arrangement is maintained with respect to the unit loads 2 of the formation F, Fa, Fb.

[0097] The in the Figures 10 to 13The illustrated embodiment particularly demonstrates that the clock formation module 40 can also form single-clock units 8 for individual process steps, comprising precisely the number of unit items 2 that are jointly detected and handled by the first manipulator 21 and / or the second manipulator 31 in a single process step. Although the figures have always described the separation of units 5 comprising two clocks 6 and 7, units 5 comprising more than two clocks 6, 7 of unit items 2 can, of course, also be separated from the formation F, Fa, Fb accordingly, for example, units 5 comprising three clocks of unit items 2 to be processed in successive process steps or manipulation steps.

[0098] The Figures 14 to 18Figure 1 schematically shows a further embodiment of a temporal sequence of a method according to the invention for handling unit loads 2 moved one after the other in at least a row 1 by means of a corresponding handling device 10 in a top view. The handling device 10 corresponds to the one shown in the Figures 10 to 13 the embodiment described above, the description of which is hereby referenced.

[0099] By means of the timing module 40b, a unit 5b comprising four unit goods 2 is separated from the formation Fb, whereby two unit goods 2 form the first cycle 6 of unit 5b and the remaining two unit goods 2 form the second cycle 7 of unit 5b. By means of the timing module 40a, a unit 5a comprising six unit goods 2 is separated from the formation Fa ( Fig. 14 ).

[0100] The first manipulator 21 detects the two trailing general cargo items 2 of the second cycle 7 of unit 5b ( Fig. 14) and moves them by rotating them 90 degrees or by rotating them 270 degrees into a first target position and / or target arrangement P1 ( Fig. 15 ). Subsequently, the first manipulator 21 detects the three trailing unit loads 2 of the second cycle 7 of unit 5a ( Fig. 16 ) and moves them, shifting them in the transport direction TR with an additional lateral movement component, to a second target position and / or target arrangement P2 ( Figure 17 and 18 ).

[0101] Meanwhile, the individual items 2 of the first cycles 6 of the formed units 5b, 5a within the first grouping module 20 are moved continuously and in alignment to the respective formation Fb, Fa in the transport direction TR via the first horizontal conveyor 23. After the individual items 2 of the first cycles 6 of the formed units 5b, 5a transfer to the second grouping module 30, they are gripped by the second manipulator 31 within the second detection area 32 by clamping and / or force-locking and / or form-locking and moved by the second manipulator 31 within the second grouping module 30 into a corresponding target position and / or target arrangement (not shown). In particular, Fig. 18 the capture of the two general cargo items 2 of the first take 6 of unit 5b separated from formation Fb.

[0102] In all the embodiments described above, preferably within the handling device, and in particular within the at least one grouping module 20, 30, at least one palletizable layer arrangement or layer of individual items is assembled from a plurality of individual items 2. The method is applicable both in the embodiment with only one grouping module 20 according to Figures 1 to 7 as well as 8 and 9, and is also advantageously applicable in embodiments with two grouping modules 20, 30 arranged one after the other. According to a preferred embodiment, at least one palletizable layer arrangement or layer of individual items is assembled from a plurality of individual items 2 within the first detection area 22 of the first grouping module 20 and / or within the second detection area 32 of the second grouping module 30.

[0103] Preferably, the first manipulator 21 assembles at least one first palletizable layer arrangement or layer of individual items from a plurality of unit items 2 within the first detection area 22. This layer of unit items may still have gaps between the individual items. The compact, palletizable layer is completed, for example, after passing through the second grouping module 30 in a subsequent palletizing module by pushing the unit items 2 together before the subsequent palletizing.

[0104] Furthermore, in this embodiment, the second manipulator 31 assembles at least one second palletizable layer arrangement or layer of individual items from a plurality of unit items 2 within the second detection area 32 and feeds it to the subsequent palletizing module. An alternative embodiment may provide that the arrangement of unit items 2 by the first manipulator 21 in the first grouping module 20 and the second manipulator 31 in the second grouping module 30 serves to form a common layer of unit items, which is then fed to the palletizing module for further processing.

[0105] Although grouping modules 20 and 30 have been described in connection with the figure description for the production of palletizable layers of general cargo, rotary systems and / or distribution systems can also be operated in a corresponding manner.

[0106] The invention has been described with reference to a preferred embodiment. However, it is conceivable to a person skilled in the art that modifications or alterations of the invention are possible, provided that the scope of protection of the following claims is not exceeded. Reference symbol list

[0107] 1, 1a, 1b Row 2 Unit goods 3, 3a, 3b Transport device 5, 5a, 5b, 5-1, 5-2 Unit 6, 6a, 6 First cycle 7, 7a, 7b Second cycle 8 Single cycle unit 10 Handling device 20 (First) Grouping module 21 (First) Manipulator 22 (First) Detection area 23 (First) Horizontal conveyor 25 Control device 26 Detection means 27 Sensor 30 Second grouping module 31 Second manipulator 32 Second detection area 33 Second horizontal conveyor 40, 40a, 40b Cycle formation module 41 Transport unit 42 Grouping belt 43 Cycle formation manipulator 44 Robot 45 Gripper F, Fa, Fb Closed formation P Target position and / or target arrangement P1 First target position and / or target arrangement P2 Second target position and / or target arrangement P3 Third target position and / or target arrangement TR Transport direction v3 Transport speed

Claims

1. A method for handling piece goods (2) being moved one after another in at least one row (1), wherein - the piece goods (2) are supplied in a transport direction (TR), without spaces immediately one after another as a closed formation (F), to at least one first handling module (20) with a first manipulator (21) for handling the piece goods (2) in a first seizing range (22) assigned to the first manipulator (21); - wherein, prior to the piece goods (2) entering the at least one first handling module (20), units (5) are formed from at least two piece goods (2) being moved one after another; - wherein the units (5) are formed by means of a cycle formation module (40) arranged upstream from the first handling module (20), - wherein a number of piece goods (2) appropriate to form the unit (5) are spatially separated within the cycle formation module (40) from the succeeding piece goods (2) of the closed formation (F), - wherein a first part (6) of the piece goods (2) of the unit (5) is moved into a first target position and / or target arrangement (P1) within the first handling module (20), - wherein the at least one piece good (2) to be moved into the first target position and / or target arrangement (P1) within the first handling module (20) is seized in a clamping manner by the first manipulator (21) of the first handling module (20) and spatially separated from the remaining piece goods (2) of the unit (5), - wherein a second part (7) of the piece goods (2) of the unit (5) is transported through the at least one first handling module (20) without being manipulated and / or handled in the process within the first handling module (20); the method being characterised in that - the second part (7) of the piece goods (2) of the unit (5) is transported through the at least one first handling module (20) to a downstream second handling module (30), - wherein the second part (7) of the piece goods (2) of the unit (5) is moved into a second target position and / or target arrangement (P2) within the second handling module (30), - wherein the at least one piece good (2) to be moved into the second target position and / or target arrangement (P2) within the second handling module (30) is seized in a clamping manner by a second manipulator (31) of the second handling module (30).

2. The method according to claim 1, wherein each unit (5) is formed from a defined number of piece goods (2), wherein the piece goods (2) of the unit (5) are moved into at least two spaced-apart target positions and / or target arrangements, in particular, wherein the number of piece goods (2) of the unit (5) corresponds to the number of piece goods (2) for exactly two method steps.

3. The method according to claim 1 or 2, wherein the unit (5) formed consists of two piece goods (2) being moved one after another, wherein one of the piece goods (2) of the unit (5) is moved into the first target position and / or target arrangement (P1) within the first handling module (20), and wherein the other piece good (2) of the unit (5) is moved into the second target position and / or target arrangement (P2) within the second handling module (30),4. The method according to one of the previous claims, wherein the cycle formation module (40) comprises a transport unit (41) arranged upstream from the first handling module (20), wherein, in order to form the units (5), the transport unit (41) is moved at least briefly at an increased speed compared to a transport speed (v3) of the closed formation (F), or wherein the cycle formation module (40) comprises a cycle-forming manipulator (43), wherein the cycle-forming manipulator (43) seizes a number of piece goods (2) appropriate to form the unit (5) and applies a movement component in transport direction (TR) to the piece goods (2).

5. The method according to one of the previous claims, wherein at least one of the piece goods (2) of the unit (5) preceding in transport direction (TR) is seized first and moved within the at least one first handling module (20) into the first target position and / or target arrangement (P1), or wherein at least one of the piece goods (2) of the unit (5) succeeding in transport direction (TR) is seized first and moved within the at least one first handling module (20) into the first target position and / or target arrangement (P1), or wherein at least one middle piece good (2) of the unit (5) is seized first and moved within the at least one first handling module (20) into the first target position and / or target arrangement (P1).

6. The method according to one of the previous claims, wherein the piece goods (2) that have been moved into a target position and / or target arrangement within the first handling module (20) and / or within the second handling module (30) are moved further continuously in transport direction (TR).

7. The method according to claim 6, wherein the piece goods (2) are moved at a conveying speed corresponding to the transport speed (v3) of the piece goods (2) of the closed formation (F).

8. The method according to one of the previous claims, wherein at least one palletisable layer arrangement or piece good layer is assembled from a plurality of piece goods (2) within the first handling module (20) and / or within the second handling module (30).

9. An apparatus (10) comprising - at least one transport device (3) via which piece goods (2) of the row (1) following immediately one after another are suppliable, without spaces as closed formation (F), in a transport direction (TR), - a cycle formation module (40) for the formation of units (5) from at least two piece goods (2) being moved one after the other; - at least one first handling module (20) with a first manipulator (21) for handling the piece goods (2); - wherein a first part (6) of the piece goods (2) of the unit (5) is movable into a first target position and / or target arrangement (P1) within the first handling module (20), and - wherein the first manipulator (21) is designed to receive at least one piece good (2) from the unit (5) of piece goods (2) in a clamping manner and to spatially separate the at least one piece good (2) from the at least one further piece good (2) of the unit (5) and to transfer the at least one seized piece good (2) into a first target position and / or target arrangement (P1) within the first handling module (20), characterised in that - the apparatus (10) is configured to carry out a method according to one of the claims 1 to 8 for handling piece goods (2) being moved one after another in at least one row (1), - wherein a second part (7) of the piece goods (2) of the unit (5) is movable into a second target position and / or target arrangement (P2) within the second handling module (30) of the apparatus (10), - wherein the second handling module (30) is arranged downstream in transport direction (TR) from the first handling module (20), - wherein the second handling module (30) comprises a second manipulator (31), - wherein the second manipulator (31) is designed to receive the at least one remaining piece good (2) of the unit (5) of piece goods (2) in a clamping manner and to transfer the at least one piece good (2) into a second target position and / or target arrangement (P2) within the second handling module (30).

10. The apparatus (10) according to claim 9, wherein the cycle formation module (40) comprises a transport unit (41), wherein, in order to form the units (5), the transport unit (41) is designed to be movable at least briefly at an increased speed compared to a transport speed (v3) of the closed formation (F), or wherein the cycle formation module (40) comprises a cycle-forming manipulator (43), wherein the cycle-forming manipulator (43) is designed to seize a number of piece goods (2) appropriate to form the unit (5).