GRIPPING DEVICE AND METHOD FOR HANDLING PIECE GOODS

Description

[0001] The present invention relates to a gripping device and a method for handling piece goods.

[0002] In order to arrange piece goods in the field of packing and palletizing technology in a relative arrangement suitable for forming a palletizable layer, grippers are already known from the prior art. These grippers have several bars designed to clamp piece goods. In previously known grippers, these bars or clamping bars can perform a feed movement, whereby piece goods are held between the bars under force, and the gripper can then rotate the held piece goods and / or shift them relative to other piece goods. After rotation and / or shifting, the bars can be opened or their relative distance from one another can be increased, thereby releasing the previously clamped piece goods.

[0003] The piece goods can, for example, be bundles with multiple beverage containers, so that a corresponding gripper can receive such bundles and then rotate or move them as needed. For example, bundles are known in which multiple beverage containers are held together by means of strapping and / or a banderol. In addition, there are bundles in which articles are held together by a so-called tray on which multiple beverage containers stand and which tray has side flaps that have been converted into an upright orientation. For some time now, bundles have also been known in which beverage containers are held together by a flat packaging blank that is clipped onto the respective beverage containers from above. Such packaging blanks, known in practice as top clips, can be made of cardboard and / or paperboard.

[0004] A gripper described above, which receives and then manipulates piece goods, can be suspended from a gantry system or configured as part of a gantry system. A horizontal conveyor system can be located below the gantry system, transporting piece goods or containers in several parallel rows. Such transport in several parallel rows has the advantage that piece goods or containers can be transported at high throughput and manipulated using a gripper. Embodiments are also already known in which grippers for manipulating piece goods or containers are arranged on multi-axis robot arms or carried by multi-axis robots.

[0005] Such a gripping device is known, for example, from EP 2 388 216 A1. This gripping device disclosed therein has two opposing gripping elements that can be positioned to receive piece goods. If the gripping device accidentally touches a floor surface, the two opposing gripping elements can detach from a support, thus preventing damage to the gripping device.

[0006] Another such gripping device is known, for example, from DE 102 04 513 A1. The gripping device disclosed in the DE application comprises two gripping arms for gripping objects. One of the two gripping arms can be connected to a vehicle. The other gripping arm serves to open and close the gripping device via an actuator.

[0007] EP 3 431 422 A1 also discloses a clamping and / or gripping device for a manipulator intended for receiving piece goods. The clamping and / or gripping device comprises a plurality of clamping and / or gripping elements, each suspended and designed to temporarily receive piece goods from different parallel rows. The clamping and / or gripping elements can be advanced in pairs in order to temporarily grasp piece goods in a respective row by means of a respective pair of clamping and / or gripping elements. EP 3 205 609 A1 describes a device and method for manipulating piece goods, in which individual piece goods can be grasped from a piece goods stream fed on a horizontal conveyor by means of at least one gripping device arranged on the manipulation device and can be moved to one of two different positions predetermined by a control device.EP 3 205 609 A1 discloses a method according to the preamble of claim 1 and a gripping device according to the preamble of claim 6.

[0008] With such gripping devices known from the prior art, it may be necessary to replace the grippers whenever circumstances change during the provision of the piece goods. For example, piece goods may initially be moved along a row, gripped by the gripping device, and then manipulated. At a later point in time, piece goods may be provided to the gripping device in several parallel rows or in an alternative arrangement, with the piece goods again being gripped by the gripping device and then manipulated. If an exchange or change of grippers is necessary, the handling of piece goods must be interrupted until the gripping device has been adjusted. In addition, such an adjustment of a gripping device is cumbersome and often requires the assistance of a user.Gripping devices that can be easily and quickly adapted to different types of provision of piece goods would be desirable.

[0009] For this reason, an object of the invention can be seen in providing a corresponding possibility with which a gripping device can be easily and simply adapted to different types of respective provision of piece goods.

[0010] The above object is achieved by the subject matter comprising the features in the independent claims. Further advantageous embodiments are described in the subclaims.

[0011] The invention relates to a method for handling piece goods using a gripping device having at least three gripper bars. The piece goods can be beverage containers or packages each containing multiple beverage containers. The beverage containers or the multiple beverage containers of a respective package can be beverage bottles and / or beverage cans.

[0012] The gripping device may have exactly three gripper bars. In practice, designs in which the gripping device has exactly four gripper bars have proven successful. Gripping devices in various designs may also include more than four gripper bars.

[0013] One step of the method involves providing piece goods via at least one horizontal conveyor. The at least one horizontal conveyor may comprise a circulating, driven conveyor belt on which the piece goods rest.

[0014] Furthermore, the method according to the invention provides for a clamped acceptance of at least one piece of goods provided by means of at least one pair of gripper bars of the gripping device formed from two gripper bars, and for manipulation of the respective clamped acceptance of at least one piece of goods by the gripping device.

[0015] It is intended that information on the provision of the piece goods is provided to a control device and that the control device, taking the information into account, determines a certain number which numerically defines at least one pair of gripper bars formed from two gripper bars.

[0016] It is further provided that the gripping device is then controlled via the control device and in this case receives at least one piece of goods provided via a respective pair of gripper bars formed from two gripper bars in accordance with the numerically defined number and then manipulates the at least one piece of goods received via the respective pair of gripper bars formed from two gripper bars.

[0017] Since the control system can thus determine the number of gripper bar pairs based on the individual piece goods being prepared, no conversion work is necessary if the type of preparation of piece goods changes. The control system is thus capable of forming gripper bar pairs with different numbers and manipulating piece goods accordingly with a number of gripper bar pairs tailored to the preparation.

[0018] It may be that the respective at least one received piece of goods is manipulated by a respective pair of gripper bars, formed by two gripper bars, according to the numerically defined number, and thereby brought into a relative alignment with other already manipulated piece of goods, which is coordinated with a palletizable layer to be formed from the manipulated piece of goods. In this case, the respective at least one piece of goods received in a clamped manner may be rotated as needed and / or displaced diagonally or perpendicularly to a transport direction of the at least one horizontal conveyor.

[0019] In practice, embodiments have proven successful in which information regarding the provision of the piece goods is provided to the control device via a sensor system, with which the control device is connected, and whose detection range is located in the area of ​​the at least one horizontal conveyor. The sensor system can be implemented, for example, as a camera system. The control device can also have a control panel or be connected to a control panel, via which a user provides the control device with information regarding the provision of the piece goods.

[0020] The gripping device can be designed as part of a gantry system or guided via a gantry system. The gripping device can also be carried by an articulated-arm robot and moved toward the respective piece goods, which are delivered to the gripping device via the at least one horizontal conveyor.

[0021] According to the invention, the piece goods are provided to the gripping device via the at least one horizontal conveyor device optionally in one row or in several parallel rows and information on the respective number of rows is provided to the control device, whereupon the control device sets a number which numerically defines at least one pair of gripper bars formed from two gripper bars, identical to the specified number of rows.

[0022] Thus, it is possible for piece goods to be initially provided to the gripping device via the at least one horizontal conveyor in exactly one row, and for information to be provided to the control device, according to which the piece goods are provided in exactly one row. The control device can then numerically define a single pair of gripper bars or numerically define only a single pair of gripper bars, whereupon the one single pair of gripper bars or only the one single pair of gripper bars each receives at least one provided piece of goods and manipulates it, with at least one gripper bar not required for clamping the piece goods remaining in a waiting position on the gripping device.

[0023] Furthermore, piece goods can be made available to the gripping device subsequently or at any specific time via the at least one horizontal conveyor in exactly two parallel rows, and information can be provided to the control device according to which the piece goods are made available in exactly two parallel rows. The control device can then define exactly two pairs of gripper bars, whereupon the exactly two pairs of gripper bars each receive and manipulate at least one piece of goods made available in a respective row. Here, too, it is possible that at least one gripper bar, which is not required for the clamped reception of piece goods from the exactly two parallel rows, remains in a waiting position on the gripping device.

[0024] Furthermore, it is possible for piece goods to be made available to the gripping device subsequently or at any other specific time via the at least one horizontal conveyor in exactly three parallel rows, and for information to be provided to the control device stating that the piece goods are to be made available in exactly three parallel rows. The control device can then define exactly three pairs of gripper bars, whereupon the exactly three pairs of gripper bars each receive and manipulate at least one piece of goods made available from exactly three parallel rows. Here, too, it is possible for at least one gripper bar that is not required for clamping the piece goods from exactly three parallel rows to remain in a waiting position on the gripping device.Alternatively, the control device may define exactly three gripper bar pairs in terms of number and the exactly three gripper bar pairs may be provided by means of all gripper bars which are designed as part of the gripping device.

[0025] Furthermore, the control device may select a defined combination from several different combinations of gripper bar pairs in accordance with the specified number for a respective gripper bar pair and, with the at least one gripper bar pair, clamp the respective at least one piece of goods in accordance with the selected combination and the specified number and then manipulate them. It is conceivable that, within the scope of a first combination, a first gripper bar of the gripping device forms a gripper bar pair with a second gripper bar of the gripping device. Within the scope of a second combination, however, this first gripper bar can form a respective gripper bar pair with a third gripper bar of the gripping device.

[0026] According to the invention, in various embodiments, with a number of rows n≥2, the control device selects a specific common gripper bar for a first gripper bar pair and a second gripper bar pair and defines the one specific common gripper bar with a first gripper bar as the first gripper bar pair and defines the specific common gripper bar with a further second gripper bar as the second gripper bar pair.

[0027] It is also possible for each of the at least three gripper bars to be assigned its own actuator. In this case, one or more gripper bars may be moved via their respective actuators to clamp the respective at least one piece of goods. Alternatively or additionally, one or more gripper bars may be moved via their respective actuators to a respective position in which the respective gripper bar forms a respective gripper bar pair with another gripper bar.

[0028] The respective dedicated actuator can, for example, be implemented as an electromagnetic direct drive. Embodiments in which the dedicated actuators are each designed as linear motors have also proven successful. However, the invention is not limited to such embodiments, so that other drives exist with which the gripper bars of the gripping device can be moved.

[0029] Furthermore, it is possible for a respective gripper bar pair to be assigned its own actuator, which transmits a feed movement to the respective two gripper bars of the respective gripper bar pair via a respective chain and / or via a respective belt in order to receive the respective at least one piece of goods provided.

[0030] The invention also relates to a gripping device for handling piece goods. The gripping device can be designed or prepared to carry out the previously described embodiments of the method according to the invention. Furthermore, individual steps of the embodiments of the previously described method can, if necessary, be carried out or implemented by the embodiments of the gripping device described below.

[0031] The gripping device comprises at least three gripper bars, of which a respective pair of gripper bars formed from two gripper bars is designed for the respective clamping acceptance of at least one piece of goods.

[0032] The gripping device further comprises a control device, to which information regarding the provision of piece goods intended for the gripping device can be specified. It is provided that the control device is designed, taking the information into account, to establish a specific number, which specific number numerically defines at least one pair of gripper bars formed from two gripper bars. It is further provided that the at least one pair of gripper bars formed from two gripper bars can be actuated via the control device according to the numerically defined number for clamping receipt of the respective at least one piece of goods.

[0033] According to the invention, the piece goods can be provided to the gripping device either in one row or in several parallel rows. According to the invention, information regarding the number of rows can be specified for the control device, wherein the control device is configured to determine the specific number such that the specific number, which numerically defines at least one pair of gripper bars formed by two gripper bars, corresponds to the respective number of rows.

[0034] It may also be the case that, by means of the control device, a respective defined combination can be selected from several different combinations of gripper bar pairs depending on the specific number which numerically defines at least one gripper bar pair formed from two gripper bars, wherein the respective gripper bar pair is designed according to the defined combination for the clamping acceptance of the respective at least one piece of goods.

[0035] According to the invention, the control device is designed such that, for a number of rows n≥2, the control device can assign a specific gripper bar to a first pair of gripper bars and a second pair of gripper bars.

[0036] Furthermore, each of the at least three gripper bars may be assigned its own actuator, with the respective actuator being connected to the control device. In this case, a separate actuator or several separate actuators may be controllable via the control device for the respective clamped acceptance of the respective at least one piece of goods via the respective gripper bar, and / or a separate actuator or several separate actuators may be controllable via the control device for moving the respective gripper bar into a respective position in which the respective gripper bar forms a respective gripper bar pair with another gripper bar.

[0037] It is also possible for each gripper bar pair to be assigned its own actuator, via which actuator a chain and / or belt can be driven in a rotating manner. In this case, the two gripper bars of the respective gripper bar pair may be arranged on the chain and / or belt in such a way that, with a rotating drive of the respective chain and / or belt, the two gripper bars can execute a feed movement for clamping the respective at least one piece of goods via the respective actuator.

[0038] It has also proven to be effective if the gripping device is designed to manipulate and transfer a respective piece of goods received in a clamped manner into a relative orientation with respect to other already manipulated piece goods, which relative orientation is coordinated with a palletizable layer to be formed from manipulated piece goods.

[0039] The invention also relates to a transport and manipulation line for piece goods and comprises a gripping device according to an embodiment of the above description.

[0040] The transport and handling line further comprises a horizontal conveyor system, via which piece goods moving in at least one row can be made available to the gripping device. It is provided that the gripping device can be controlled via its control and / or regulating device to rotate clamped piece goods and / or to move clamped piece goods on the horizontal conveyor system.

[0041] In the following, exemplary embodiments will explain the invention and its advantages 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 sizes, as some shapes are simplified and others are enlarged relative to other elements for better illustration.

[0042] It should be expressly mentioned at this point that all aspects and embodiments explained in connection with the gripping device according to the invention equally relate to or can be partial aspects of the method according to the invention. Therefore, if at any point in the description or in the claim definitions for the gripping device according to the invention, certain aspects and / or relationships and / or effects are mentioned, this equally applies to the method according to the invention. The same applies in reverse, so that all aspects and embodiments explained in connection with the method according to the invention equally relate to or can be partial aspects of the gripping device according to the invention.Therefore, if at one point in the description or in the claim definitions for the method according to the invention certain aspects and / or relationships and / or effects are mentioned, this applies equally to the gripping device according to the invention.

[0043] Figures 1 to 3 each show a schematic view of an embodiment of a gripping device according to the invention and illustrate individual steps as they can be provided in various embodiments of the method according to the invention.

[0044] Fig. 4 shows further aspects as they can be provided in various embodiments of the gripping device according to the invention and in the implementation in various embodiments of the method according to the invention.

[0045] Fig. 5 shows the flowchart steps as they can be carried out individually or according to the Fig. 5combination shown can be provided in various embodiments of the method according to the invention.

[0046] Identical reference numerals are used for identical or equivalently functioning elements of the invention. Furthermore, for the sake of clarity, only those reference numerals are shown in the individual figures that are necessary for the description of the respective figure. The illustrated embodiments merely represent examples of how the invention can be configured and do not constitute an exhaustive limitation.

[0047] The Figures 1 to 3 each show a schematic view of an embodiment of a gripping device 1 according to the invention and illustrate individual steps as they occur in various embodiments of the method 100 according to the invention (cf. Fig. 4 ) may be provided. The gripping device 1 and the Figures 1 to 3The horizontal conveyor device shown in reference to number 15 is part of a transport and manipulation line 10. By means of the transport and manipulation line 10, the piece goods 5 are moved after manipulation via the gripping device 1 in the direction of a palletizing station.

[0048] Along the transport and manipulation route 10, Fig. 1 Several piece goods 5 are conveyed one after the other as a row 9 by the horizontal conveyor 15 in the direction of the image plane. In order to palletize piece goods 5 at a later time, it is necessary for the piece goods 5 to be aligned relative to one another beforehand in order to form a palletizable layer from several piece goods 5, which is then placed on an assigned pallet by means of suitable handling devices.

[0049] The gripping device 1 is capable of clamping the piece goods 5, which are moved one behind the other as a row 9 by means of the horizontal conveyor 15, and, if necessary, rotating them and / or displacing them diagonally to the transport direction of the horizontal conveyor 15 in order to create a relative alignment of the piece goods 5 that is suitable for such a palletizable layer. If the gripping device 1 has performed such an alignment, the piece goods 5 are pushed or compressed against each other at a later time, thereby creating the palletizable layer. In the embodiment according to Figures 1 to 3 The gripping device 1 is designed as a component of a gantry system. The gripping device 1 itself can therefore be moved both in the direction of the image plane and in the opposite direction to the image plane.

[0050] In order to be able to manipulate the piece goods 5, which in the present case are formed by containers 6 each containing several beverage containers, the gripping device 1 comprises four gripper bars 4, 4', 4" and 4‴. The four gripper bars 4, 4', 4" and 4‴ are arranged in such a way that the four gripper bars 4, 4', 4" and 4‴ are aligned with each other perpendicular to the transport direction of the horizontal conveyor device 15. In the Figures 1 to 3 The gripper bars 4, 4', 4" and 4‴ are shown only schematically. In practice, the four gripper bars 4, 4', 4" and 4‴ can have contact elements made of rubber in a respective area facing the piece goods 5 in order to prevent damage to the piece goods 5 in the event of a jammed acceptance.

[0051] Each of the four gripper bars 4, 4', 4", and 4‴ in the present case is assigned its own actuator 8, 8', 8", or 8‴, wherein the actuators 8, 8', 8", 8‴ are in turn connected to the control device S. The actuators 8, 8, 8", and 8‴ are formed by linear motors, but in further embodiments can also be formed by alternative drives. Via its respective own actuator 8, 8', 8", and 8‴, a respective gripper bar 4, 4', 4", 4‴ can be moved along a linear direction which runs perpendicular to the transport direction of the horizontal conveyor device 15.

[0052] If piece goods 5 are moved via the horizontal conveyor device 15 in only one row 9 and thus provided to the gripping device 1, the gripping device 1 requires only one pair of gripper bars formed from exactly two gripper bars 4, 4' 4" or 4‴ in order to be able to clamp and receive at least one piece goods 5 of the one row 9 and to manipulate the clamped piece goods 5 thereon. The pair of gripper bars, which is required for clamping the respective at least one piece goods 5, is in Fig. 1 formed by the gripper bars, which are referred to by numbers 4" and 4‴. In addition, the gripping device 1 comprises two further gripper bars, which are Fig. 1 are shown with reference to numbers 4 and 4' and are not required in each case if the horizontal conveyor device 15 of the gripping device 1 provides piece goods 5 in only one row.

[0053] As already mentioned above, these gripper bars 4" and 4‴, which in this case are provided for clamping the piece goods 5 of one row 9, are each assigned their own actuator 8" or 8‴. If at least one piece of goods 5 of one row 9 is to be received in a clamped manner, the separate actuators 8" and 8‴ are controlled by the control device S, which move the gripper bars 4" or 4‴ in the direction of the respective piece of goods 5 of one row 9 until the respective at least one piece of goods 5 is held clamped between the gripper bars 4" and 4‴. The movement of the gripper bars 4" and 4‴ occurs at least approximately simultaneously, so that the gripper bars 4" and 4‴ also come into surface contact with the at least one piece of goods 5 of one row 9 at least approximately simultaneously.

[0054] During the clamped receipt of the respective at least one piece of goods 5 of the one row 9, the entire gripping device 1 can be moved along the transport direction of the horizontal conveyor 15, which is oriented in the direction of the image plane. Thus, during a clamped receipt of the at least one piece of goods 5 of the one row 9, the gripping device 1 can be moved together with the at least one piece of goods 5 until the respective at least one piece of goods 5 has been clamped by the gripping device 1 or by the gripper bars 4" and 4‴. The control device S can then initiate a rotational movement or an oblique offset for the at least one piece of goods 5 that is still held clamped between the gripper bars 4" and 4‴, in order to manipulate the piece of goods 5 in a manner tailored to a palletizable layer to be formed.

[0055] As mentioned previously, Fig. 1Furthermore, it can be seen that the gripping device 1 has two further gripper bars 4 and 4', which Fig. 1 no gripper bar pair intended for clamping receipt of piece goods 5 of one row 9 is formed. The two further gripper bars 4 and 4' are in Fig. 1 not required to receive piece goods 5 of one row 9 and therefore remain in Fig. 1 in a waiting position. The dedicated actuators 8 and 8', which are assigned to the outer gripper bars 4 and 4', are not actuated by the control device S if piece goods 5 of one row 9 are to be manipulated.

[0056] As can be seen from a summary of the Figures 1 to 3As is clear, the piece goods 5, 5' and 5" can be provided via the horizontal conveyor device 15 either in one row 9, in two parallel rows 9 and 9' or in three parallel rows 9, 9' and 9". If the number of rows changes, gripping devices, which are already known from the prior art, must be supplemented with additional pairs of gripper bars or, if necessary, pairs of gripper bars must be removed from the gripping device in order to adapt the respective gripping device to changing provisions of piece goods 5.

[0057] In the gripping device 1 of the embodiment according to Figures 1 to 3Such an addition of gripper bar pairs or such a removal of gripper bar pairs is not necessary in order to be able to adapt the gripping device 1 to a changing provision of piece goods 5. The gripping device 1 can therefore be quickly and easily adapted to a provision of piece goods with a different number of rows, without the operation of the transport and manipulation line 10 having to be interrupted for an extended period of time. All of the four gripper bars 4, 4', 4" and 4‴ in this case remain fixed to the gripping device 1 regardless of the respective number of rows of piece goods 5, 5' or 5" provided, or are not removed from the gripping device 1 if the number of rows changes.

[0058] In the gripping device 1 of the embodiment according to Figures 1 to 3Information on the respective number of rows can be provided to the control device S. For example, corresponding sensors can be positioned in the area of ​​the transport and manipulation path 10, via which the control device S can detect a corresponding number of rows. It can also be the case that the control device S is connected to a control panel or has such a control panel, via which information on the respective number of rows can be provided to the control device S.

[0059] The control device S is able to determine a specific number, taking into account the information on the number of rows, which specific number numerically defines at least one pair of gripper bars formed from two gripper bars 4, 4', 4", 4‴. If only one row 9 of piece goods 5 is provided to the gripping device 1 by means of the horizontal conveyor device 15, the gripping device 1 only requires one pair of gripper bars formed from two gripper bars 4" and 4‴ in order to be able to accept piece goods 5 from one row 9 in a clamping manner.

[0060] If the control device S is accordingly specified that piece goods are to be made available to the gripping device 1 via the horizontal conveyor device 15 in exactly one row 9, the control device S forms exactly one gripper bar pair from the gripper bars 4" and 4‴ and causes the further gripper bars 4 and 4' to be moved into a waiting position or to remain in a waiting position if the further gripper bars 4 and 4' are already in their respective waiting position.

[0061] The schematic view of the Fig. 2 shows that the horizontal conveyor 15 of the gripping device 1 provides piece goods 5 in exactly two parallel rows 9 and 9'. Thus, the Fig. 1 still intended type of provision, in which the gripping device 1 is provided with piece goods 5 in exactly one row, in Fig. 2 changed, whereby the gripping device 1 in Fig. 2Now piece goods 5 and 5' are provided in exactly two parallel rows 9 and 9'.

[0062] In order to be able to clamp and manipulate piece goods 5 and 5' of the two parallel rows 9 and 9', the gripping device 1 requires two pairs of gripper bars, each consisting of two gripper bars 4, 4', 4" or 4‴.

[0063] In Fig. 2a first pair of gripper bars is formed from the two gripper bars 4 and 4", wherein a second pair of gripper bars is formed from the two gripper bars 4' and 4‴. If the control device S knows the number of rows, the control device S can determine a number of required gripper bar pairs, wherein the number of gripper bar pairs and the number of rows are identical. When manipulating piece goods 5 and 5' of the two parallel rows 9 and 9', the gripper bars 4 and 4", which form a first pair of gripper bars, carry out a feed movement, whereby at least one piece of goods 5 of the first row 9 is clamped by the first pair of gripper bars.

[0064] Simultaneously, or at least approximately simultaneously, the gripper bars 4‴ and 4', which form a second pair of gripper bars, perform an infeed movement, whereby at least one piece of goods 5' of the second row 9 is clamped. The piece of goods 5 and 5', still held clamped by the first pair of gripper bars and the second pair of gripper bars, can then be manipulated via the gripping device 1 and, if necessary, displaced and / or rotated obliquely to the transport direction of the horizontal conveyor device 15. The movement of the gripper bars 4, 4', 4", and 4‴ is in turn carried out via their respective assigned actuators 8, 8', 8", 8‴, which are controlled for this purpose by the control device S.

[0065] The schematic view of the Fig. 3Furthermore, it illustrates the mode of operation of the gripping device 1, provided that piece goods 5, 5' and 5" are provided to the gripping device 1 via the horizontal conveyor device 15 in three parallel rows 9, 9' and 9". As already mentioned above, information on the respective number of rows can be specified to the control device S, for which purpose the control device S cooperates with a corresponding sensor system or wherein a user of the control device S specifies corresponding information on the number of rows via a control panel.

[0066] The gripping device 1 can also receive piece goods 5, 5', and 5" from three parallel rows 9, 9', and 9" without the gripping device 1 having to be converted for this purpose. The gripping device 1 again provides three pairs of gripper bars for this purpose in order to be able to clamp and then manipulate piece goods 5, 5', and 5" from the three parallel rows 9, 9', and 9". The number of pairs of gripper bars provided by the control device S and the number of rows are again identical.

[0067] Piece goods 5 of the first row 9 are received via a first pair of gripper bars, which is formed by the gripper bars 4 and 4". Piece goods 5' of the second row 9' are received via a second pair of gripper bars, which is formed by the gripper bars 4" and 4‴. Piece goods 5" of the third row 9" are received via a third pair of gripper bars, which is formed by the gripper bars 4' and 4‴.

[0068] Out of Fig. 3 It is thus clear that the gripper bar 4" forms a common gripper bar 7" for the first gripper bar pair and the second gripper bar pair, or that the gripper bar 4" as a common gripper bar 7" is a component of both the first gripper bar pair and the second gripper bar pair. Fig. 3It is clear that the gripper bar 4‴ forms a common gripper bar 7‴ for the second pair of gripper bars and the third pair of gripper bars, or that the gripper bar 4‴ as a common gripper bar 7‴ is a component of both the second pair of gripper bars and the third pair of gripper bars.

[0069] When the gripping device 1 receives piece goods 5, 5' and 5" from the three parallel rows 9, 9' and 9", the gripper bars 4" and 4‴, which form the second pair of gripper bars, are each moved in the direction of the piece goods 5' of the second row 9', until the gripper bars 4" and 4‴ come into contact with the respective at least one piece goods 5' of the second row 9' and the respective at least one piece goods 5' of the second row 9' is held clamped between the gripper bars 4" and 4‴. Overlaid in time, the gripper bar 4 is moved in the direction of the respective at least one piece goods 5 of the first row 9, then comes into surface contact with the respective at least one piece goods 5 of the first row 9 and pushes the at least one piece goods 5, which was previously in the first row 9, in the direction of the second row 9', until the respective at least one piece goods 5 comes into contact with the Gripper bar 4" orcomes into surface contact with the common gripper bar 7" and is held clamped by the gripper bars 4 and 4".

[0070] Likewise, the gripper bar 4' is moved in a temporally superimposed manner in the direction of the respective at least one piece of goods 5" of the third row 9", then comes into surface contact with the respective at least one piece of goods 5" of the third row 9" and pushes the at least one piece of goods 5" that was previously in the third row 9" in the direction of the second row 9' until the respective at least one piece of goods 5" comes into surface contact with the gripper bar 4‴ or with the common gripper bar 7‴ and is held clamped by the gripper bars 4' and 4‴.

[0071] After the piece goods 5, 5' and 5" of the first row 9, the second row 9' and the third row 9" have been clamped by the gripping device 1 in this way, the piece goods 5, 5' and 5" can be manipulated and, if necessary, displaced and / or rotated obliquely to a transport direction of the horizontal conveyor device 15. From the described functioning of the gripping device 1 according to Fig. 3 It also becomes clear that when piece goods 5, 5' and 5" are provided in three parallel rows 9, 9' and 9", all gripper bars 4, 4', 4" and 4‴ are moved in the direction of the second row 9' or in the direction of the middle row 9' in order to receive piece goods 5, 5' and 5" from the three parallel rows by means of three pairs of gripper bars.

[0072] The movement of the gripper bars 4, 4', 4" and 4‴ is carried out via a respective actuator 8, 8', 8" and 8‴, which is controlled for this purpose by the control device S. After the piece goods 5, 5' or 5" have been manipulated via the gripping device 1, the gripper bars 4, 4', 4" and 4‴ can be moved back to a starting position via their respective actuator 8, 8', 8", 8‴, which respective starting position in Fig. 3 is shown.

[0073] The schematic view of the Fig. 4 shows further aspects as they can be provided in various embodiments of the gripping device 1 according to the invention and in the implementation in various embodiments of the method 100 according to the invention. In the embodiment according to Figures 1 to 3The gripper bars 4, 4', 4" and 4‴ are each assigned their own actuator 8, 8', 8" and 8‴, via which the respective gripper bar 4, 4', 4" and 4‴ can be moved in order to receive a respective piece of goods 5, 5' and 5" in a clamping manner with another gripper bar 4, 4', 4" or 4‴ as a gripper bar pair.

[0074] The Fig. 4 shows a schematic plan view of a further embodiment of a gripping device 1. In the embodiment according to Fig. 4 is the gripper bar pair, which consists of the two in Fig. 4A separate actuator is assigned to each of the gripper bars 4 and 4', which can rotate the drive wheel 32 and thereby drive the belt 3 in a rotating manner. The belt 3 is also guided over a deflection wheel 31, which, when the drive wheel 32 rotates, is rotated together with the drive wheel 31. However, no actuator is assigned to the deflection wheel, so that the deflection wheel 31 is passively rotated via the belt 3 when the drive wheel 32 rotates.

[0075] The gripper bars 4 and 4' are each fastened to a strand of the belt 3 in such a way that the gripper bars 4 and 4' approach each other during a rotating movement of the drive wheel 32 in a first direction of rotation and thereby a piece of goods 5, 5' or 5" (cf. Figures 1 to 3) in a clamped manner. If the drive wheel 32 is subsequently rotated in an opposite direction, the gripper bars 4 and 4' increase their relative distance from one another and can release the piece goods 5, 5' or 5" that were previously held in a clamped manner.

[0076] The gripping device 1 also has two additional gripper bars 4" and 4‴ (cf. Figures 1 to 3 ), which also form a pair of gripper bars and in plan view Fig. 4 are arranged below the gripper bars 4 and 4'. The two further gripper bars 4" and 4‴ are thus arranged in the top view according to Fig. 4are concealed by the gripper bars 4 and 4' and are therefore not visible. The two further gripper bars 4" and 4‴ can in turn be attached to another belt, which is driven by another drive wheel and is guided around another deflection wheel. The two further gripper bars 4" and 4‴ can in turn be assigned their own actuator, which rotates the additional drive wheel in order to transmit a feed movement to these further gripper bars 4" and 4‴ via the belt or the additional belt.

[0077] The Fig. 5 shows the flowchart steps as they can be carried out individually or according to the Fig. 5illustrated combination can be provided in various embodiments of the method 100 according to the invention. In step 110, a control device S is provided with information on a respective number of rows in which piece goods 5, 5' or 5" are provided via a horizontal conveyor device 15 of the gripping device 1.

[0078] In step 120, the control device S forms gripper bar pairs from a plurality of gripper bars 4, 4', 4" and 4‴, the number of which corresponds to the respective number of rows that was specified to the control device S in step 110. Unused gripper bars 4, 4', 4" and 4‴ are also transferred to a waiting position in step 120 at the instigation of the control device S, provided they are not already in the respective waiting position.

[0079] In step 130, the piece goods 5, 5' or 5" are provided in a row 9 or several parallel rows 9, 9' and 9" according to the number of rows specified in step 110 of the gripping device 1, for which purpose the horizontal conveyor 15 moves piece goods 5, 5' or 5" into a working area of ​​the gripping device 1.

[0080] This is followed by step 140, in which the gripping device 1 clamps and manipulates piece goods 5, 5', 5" from exactly one row 9' moved into its working area or from several parallel rows 9', 9", 9‴ moved into its working area by means of the numerically coordinated number of gripper bar pairs in order to transfer several piece goods 5, 5' or 5" into a relative orientation which is coordinated with a palletizable layer to be formed from the several piece goods 5, 5' or 5".

[0081] The invention has been described with reference to a preferred embodiment. However, it is conceivable for a person skilled in the art that modifications or variations of the invention can be made without departing from the scope of the following claims.

[0082] Although "schematic" representations and views are generally referred to in the context of the description of the figures, this by no means means that the figures and their descriptions are of secondary importance with regard to the disclosure of the invention. The skilled person is perfectly capable of deriving sufficient information from the schematic and abstractly drawn representations to facilitate their understanding of the invention, without their understanding being in any way impaired by the drawn proportions, which may not be precisely to scale. The figures thus enable the skilled person, as the reader, to derive a better understanding of the inventive concept formulated more generally and / or abstractly in the claims and in the general part of the description based on the more concretely explained implementations. List of reference symbols

[0083] 1Gripping device 3Belt 4Gripper bar, further gripper bar 4'Gripper bar, further second gripper bar 4"Gripper bar 4‴Gripper bar 5Unit 5'Unit 5"Unit 6Container 6'Container 6"Container 7"Common gripper bar 7‴Common gripper bar 8Actuator 8'Actuator 8"Actuator 8‴Actuator 9Row of unit loads 5 9'Row of unit loads 5' 9"Row of unit loads 5" 10Transport and handling section 15Horizontal conveyor device 31Deflection wheel 32Drive wheel 100Process 110First process step 120Second process step 130Third process step 140Fourth process step SControl device

Claims

1. A method (100) for handling piece goods (5, 5', 5"), with a gripping device (1) which has at least three gripper bars (4, 4', 4", 4‴), the method (100) comprising the following steps: - supplying piece goods (5, 5', 5") via at least one horizontal conveyor (15); - receiving in each case at least one supplied piece good (5, 5', 5") in a clamping manner via at least one pair of gripper bars of the gripping device (1), which pair of gripper bars is formed from two gripper bars (4, 4', 4", 4‴), and manipulating the particular at least one piece good (5, 5', 5") received in a clamping manner by means of the gripping device (1), wherein - information on supplying the piece goods (5, 5', 5") is specified to a control device (S), and, in consideration of the information specified, the control device (S) determines a specific number which numerically defines at least one pair of gripper bars formed from two gripper bars (4, 4', 4", 4‴), whereupon the gripping device (1) is actuated via the control device (S) and in this context receives in each case at least one supplied piece good (5, 5', 5") in accordance with the numerically defined number via a particular pair of gripper bars formed from two gripper bars (4, 4', 4", 4‴), and hereupon manipulates the at least one piece good (5, 5', 5") received in each case via the particular pair of gripper bars formed from two gripper bars (4, 4', 4", 4‴), the method (100) being characterised in that - the piece goods (5, 5', 5") are supplied to the gripping device (1) via the at least one horizontal conveyor (15) optionally in one row (9) or in a plurality of parallel rows (9, 9', 9"), and information on the particular number of rows is specified to the control device (S), whereupon the control device (S) determines a number identical to the specified number of rows, which number numerically defines at least one pair of gripper bars formed from two gripper bars (4, 4', 4", 4‴), and in that - the control device (S) selects a specific common gripper bar (7", 7‴) for a first pair of gripper bars and a second pair of gripper bars in the case of a number of rows n≥2 and determines the specific common gripper bar (7", 7‴) together with a further first gripper bar (4) as first pair of gripper bars and determines the specific common gripper bar (7", 7‴) together with a further second gripper bar (4) as second pair of gripper bars.

2. The method according to claim 1, in which each gripper bar (4, 4', 4", 4‴) of the at least three gripper bars (4, 4', 4", 4‴) is assigned its own actuator (8, 8', 8", 8‴), wherein - one gripper bar (4, 4', 4", 4‴) or a plurality of gripper bars (4, 4', 4", 4‴) are moved each via their particular own actuator (8, 8', 8", 8‴) for the purpose of receiving the particular at least one piece good (5, 5', 5") in a clamping manner, and / or wherein - one gripper bar (4, 4', 4", 4‴) or a plurality of gripper bars (4, 4', 4", 4‴) are moved each via their particular own actuator (8, 8', 8", 8‴) into a particular position in which the particular gripper bar (4, 4', 4", 4‴) forms a particular pair of gripper bars together with a further gripper bar (4, 4', 4", 4‴).

3. The method according to claim 2, in which the own actuators (8, 8', 8", 8‴) are in each case designed as a linear motor.

4. The method according to claim 1, in which a particular pair of gripper bars is in each case assigned an own actuator, which transmits an advance movement via a particular chain and / or via a particular belt (3) to the particular two gripper bars (4, 4', 4", 4‴) of the particular pair of gripper bars for the purpose of receiving the particular at least one supplied piece good (5, 5', 5").

5. The method according to one of the claims 1 to 4, in which the particular at least one piece good (5, 5', 5") received in accordance with the numerically defined number via a particular pair of gripper bars formed from two gripper bars (4, 4', 4", 4‴) is manipulated and hereby brought into a relative alignment relative to other already manipulated piece goods (5, 5', 5"), which alignment is adapted to a palletisable layer to be formed from manipulated piece goods (5, 5', 5").

6. A gripping device (1) for handling piece goods (5, 5', 5"), the gripping device comprising - at least three gripper bars (4, 4', 4", 4‴), of which one particular pair of gripper bars formed from two gripper bars (4, 4', 4", 4‴) is designed to receive in each case at least one piece good (5, 5', 5") in a clamping manner, and further comprising - a control device (S), to which information on a supplying of piece goods (5, 5', 5") intended for the gripping device (1) is specifiable, wherein the control device (S) is designed to determine a specific number in consideration of the information specified, which specific number numerically defines at least one pair of gripper bars formed from two gripper bars (4, 4', 4", 4‴), and wherein the at least one pair of gripper bars formed from two gripper bars (4, 4', 4", 4‴) is actuable via the control device (S) to receive the particular at least one piece good (5, 5', 5") in a clamping manner and in accordance with the numerically defined number, the gripping device (1) being characterised in that - piece goods (5, 5', 5") are suppliable to the gripping device optionally in one row (9) or in a plurality of parallel rows (9, 9', 9"), and wherein information on the number of rows is specifiable to the control device (S), and wherein the control device (S) is designed to determine the specific number in such a manner that the specific number numerically defining at least one pair of gripper bars formed from two gripper bars (4, 4', 4", 4‴) corresponds to the particular number of rows, and in that - the control device (S) is designed in such a manner that the control device (S) can assign a specific gripper bar (7", 7‴) that is in common to a first pair of gripper bars and a second pair of gripper bars in the case of a number of rows n≥2.

7. The gripping device according to claim 6, in which each gripper bar (4, 4', 4", 4‴) of the at least three gripper bars (4, 4', 4", 4‴) is assigned its own actuator (8, 8', 8", 8‴), wherein each particular own actuator (8, 8', 8", 8‴) is connected to the control device (S), and wherein - one own actuator (8, 8', 8", 8‴) or a plurality of own actuators (8, 8', 8", 8‴) are actuable via the control device (S) for the purpose of receiving the particular at least one piece good (5, 5', 5") in a clamping manner via the particular gripper bar (4, 4', 4", 4‴), and / or wherein - one own actuator (8, 8', 8", 8‴) or a plurality of own actuators (8, 8', 8", 8‴) are actuable via the control device (S) for the purpose of moving the particular gripper bar (4, 4', 4", 4‴) into a particular position in which the particular gripper bar (4, 4', 4", 4‴) forms a particular pair of gripper bars together with a further gripper bar (4, 4', 4", 4‴).

8. The gripping device according to claim 7, in which the own actuators (8, 8', 8", 8‴) are in each case designed as a linear motor.

9. The gripping device according to claim 6, in which a particular pair of gripper bars is assigned a particular own actuator, via which particular own actuator a chain and / or a belt (3) is drivable in a circulating manner, and wherein the particular two gripper bars (4, 4', 4", 4‴) of the particular pair of gripper bars is arranged at the chain and / or at the belt (3) in such a manner that the particular two gripper bars (4, 4', 4", 4‴) can carry out an advance movement via the particular own actuator for the purpose of receiving the particular at least one supplied piece good (5, 5', 5") in a clamping manner when the particular chain and / or of the particular belt (3) is being driven in a circulating manner.

10. The gripping device according to one of the claims 6 to 9, which is designed to manipulate and transfer a particular piece good (5, 5', 5") received in a clamping manner into a relative alignment relative to other already manipulated piece goods (5, 5', 5"), which relative alignment is adapted to a palletisable layer to be formed from manipulated piece goods (5, 5', 5").

11. A transport and manipulation line (10) for piece goods, the transport and manipulation line (10) comprising - a gripping device (1) according to one of the claims 6 to 10, and - a horizontal conveyor (15), via which piece goods (5, 5', 5") being moved one after another in at least one row (9, 9', 9") are suppliable to the gripping device (1), wherein the gripping device (1) is actuable via its control device (S) to rotate and / or to relocate piece goods (5, 5', 5") seized in a clamping manner on the horizontal conveyor (15).