Apparatus, system and gripping tool for detaching an item from a packing arrangement

Abstract

The invention relates to an apparatus for detaching an item from a packing arrangement, comprising: a movably arranged gripping device which is designed to establish mechanical contact with the item and exert a force onto the item; and a holding element which is designed to hold, in a stationary position, the item on a side opposite the gripping device for the purpose of detaching the item, wherein the gripping device is designed to carry out a movement of the gripping device towards the holding element, wherein the apparatus is designed to change an orientation of the item to a changed orientation on the basis of the mechanical contact and to release the item from the packing arrangement in the changed orientation.

Description

[0001] Device, system and gripping tool for removing a piece of goods from a packaging pattern

[0002] Technical field

[0003] Embodiments of this invention relate to a device and a system for extracting a piece of goods from a packaging pattern.

[0004] Background of the invention

[0005] Manual unloading of cargo and baggage, for example in aircraft, presents various technical challenges that make automating the process difficult. A key problem is the limited size of the cargo hatch, which restricts access to the cargo holds and hinders the handling of bulky items. Furthermore, cargo holds are often irregularly shaped and limited in height (or space), making optimal use of the available space difficult and preventing the use of prefabricated systems.

[0006] The limited availability of automated conveyor belts, for example on the apron, and the lack of assistance systems that could be used in the cargo hold mean that ground personnel usually have to handle heavy loads manually. The loading and unloading process is therefore not only time-consuming and labor-intensive, but also poses an increased risk of musculoskeletal injuries for ground personnel. Environmental conditions, particularly the climate and noise, as well as the awkward postures required of the employees tasked with unloading, further negatively impact the health of the workers.

[0007] In addition to the high performance demands due to processing times, the limited visibility of individual items is also cognitively taxing, as the position and orientation of items within the packing pattern are difficult to discern, for example, in the interior of an aircraft with high packing density. Individual items in the baggage and travel sector (e.g., suitcases and bags) are currently separated manually from existing packing patterns by human operators using muscle power, for example, in the cargo hold of aircraft. Technical aids and devices currently exist only for feeding and removing individual items into and out of the aircraft's cargo hold. The separation process is currently performed manually by human operators using muscle power.

[0008] SUBMISSION VERSION. DOCX. The problem of extracting individual items also affects other areas of technology, such as logistics.

[0009] Therefore, concepts for improving the singulation of individual items from a packaging pattern would be desirable.

[0010] One object of the present invention is therefore to provide devices for removing individual items from a packing pattern and a gripping tool that enable simple and flexible removal of individual items.

[0011] This problem is solved by the subject matter of the independent patent claims.

[0012] A concept is revealed that allows individual items to be extracted from a packaging pattern. This enables the safest possible transport of the items without damaging them.

[0013] Further embodiments according to the invention are defined by the subject matter of the dependent claims of the present application.

[0014] Summary of the invention

[0015] A first aspect of the invention defines a device for removing a piece of goods from a packaging pattern, comprising a movable gripping device configured to establish mechanical contact with the goods and to exert a force on the goods; a holding element configured to hold the goods in a rigid position on one side opposite the gripping device for removal; wherein the gripping device is configured to perform a movement of the gripping device onto the holding element; wherein the device is configured to change the orientation of the goods to a different orientation based on the mechanical contact; and to remove the goods from the packaging pattern in the changed orientation.The movable gripping device can also be described as an adaptive gripper, and the holding element can likewise be described as a rotatable or swiveling element at a front end of the device (e.g., handling a piece of goods into or out of a packaging pattern is also possible, as well as pushing the piece of goods into the device during loading by reversing the movement sequences / processes).

[0016] SUBMISSION VERSION. DOCX The inventors have discovered that a device according to this embodiment of the invention is particularly good and safe at removing individual items from a packaging pattern. Furthermore, a device according to this embodiment of the invention is also able to operate in spatially confined spaces, e.g., an aircraft cargo hold.

[0017] Changing the orientation reduces existing contact between individual items and other items in the packing pattern. This significantly reduces the force required to remove the item from the packing pattern in its altered orientation. Furthermore, changing the orientation allows even items with complex topologies to be removed from a packing pattern. For example, items with complex topologies, such as travel bags or backpacks, pose a significant challenge when unloading aircraft cargo holds because they often become entangled. Simply pulling the items out of the packing pattern is therefore often impossible. Additionally, during flight, the packing pattern is further compressed by the aircraft's movements. This causes the individual items to become entangled.Luggage pieces become wedged together and, unless they are rigid items like hard-shell suitcases, their topologies adapt to one another. Pulling the individual items out is therefore no longer possible, as the forces required to remove them from the packing pattern without damage are too great. A device according to this embodiment of the invention allows these disadvantageous connections between the individual items and the adjacent items in the packing pattern to be broken by changing their orientation, and subsequently allows the individual items to be removed from the adjacent items in the packing pattern with reduced effort.

[0018] A particular advantage of this embodiment is the holding element, which is designed to hold the item in a rigid position on one side opposite the gripping device for removal. The rigid position is especially advantageous because the components of the device that exert an active force on the item are attached to the gripping device. The holding element can therefore be implemented with very few, small components. This results in the part of the device that includes the holding element requiring little space. A device according to this embodiment of the invention is therefore, for example, able to utilize space above or beside the packing pattern to move the holding element on one side of the item opposite the gripping device and to execute the movement of the gripping device onto the holding element. For example, a device according to this embodiment can be used in aircraft cargo holds.

[0019] SUBMISSION VERSION. DOCX is particularly advantageous to the invention because, due to fire protection regulations, the airspace left free above the packaging pattern can be used for moving components. This airspace can be used to move the retaining element into the appropriate position.

[0020] A device according to this embodiment of the invention can detach the goods from the packing pattern by changing their orientation. For example, one end of the goods can be lifted into the changed orientation, while the other end remains in contact with the packing pattern. This can result in the weight of the goods being directed only a small portion onto the device and remaining largely on the packing pattern. The device therefore does not need to transport the goods in a suspended position and thus does not need to bear their entire weight. This can also be described as "pulling" the goods off.

[0021] This embodiment of the invention can be used to ensure that the workpiece is only moved once all working elements (gripping device and holding element) are in place. This can prevent unnecessarily strong forces from being applied to the workpiece.

[0022] Another embodiment of the invention defines a device in which the gripping device is designed to change the workpiece into the altered orientation based on the movement of the gripping device.

[0023] A device according to this embodiment of the invention can be particularly well suited to bringing the workpiece into the changed orientation. Since the gripping device already possesses functionalities for executing its movement onto the holding element, these functionalities can also be used to achieve the changed orientation of the workpiece. This represents a synergy effect between establishing the mechanical contact and changing the orientation. This allows the device to be manufactured with as few moving parts as possible, thus leading to a reduction in manufacturing costs.

[0024] Another embodiment of the invention defines a device in which the gripping device is designed to exert force on the workpiece in one direction of the holding element. This means that the holding element can be used as a counterpart for the movement of the gripping device, against which the gripping device presses while remaining in a rigid position relative to the gripping device, which provides a

[0025] SUBMISSION VERSION. DOCX does not preclude the joint movement of the gripping device and the holding element, for example for the removal of the packaged goods.

[0026] This embodiment of the invention can be particularly advantageous because the force applied to the item in the direction of the holding element, combined with the rigid position of the holding element, creates a frictional connection. This frictional connection can then be used to change the orientation and to release the item in the changed orientation from the packaging pattern. The holding element acts solely as a reactive element and does not exert any active force on the item, e.g., force generated by actuators. Positioning the holding element on a side opposite the gripping device ensures that the item is gripped from two sides, which can lead to particularly safe handling of the device and the item.

[0027] Another embodiment of the invention defines a device designed to release the piecework in the changed orientation by contact of the holding element and the gripping device with the piecework, wherein the holding element is configured to exert an opposing force relative to the force of the gripping device.

[0028] The inventors discovered that removing the item in its altered orientation requires significantly less force than removing it in its original orientation. The contact between the holding element and the gripping device with the item creates a frictional connection that can be used to securely remove the item from the packaging pattern. The opposing force can be either an active or a passive counterforce or reactive force.

[0029] Another embodiment of the invention describes a device designed to perform the movement of the gripping device as a rotational movement of the gripping device.

[0030] This embodiment of the invention is based on the idea that the rotational movement of the gripping device can be particularly advantageous because it ensures secure contact between the gripping device and the workpiece, and is also capable of changing the orientation by moving the workpiece unilaterally. The rotational movement of the gripping device is particularly easy to implement because the component can be mounted to move about an axis. For example, a

[0031] SUBMISSION VERSION. DOCX is located on the rotation axis of the gripping device above the gripping device, so that contact can be established by rotating the gripping device towards the item. For example, such a configuration also makes it possible to continue the rotation after contact has been established and to change the orientation of the item through this rotational movement. In an advantageous embodiment, this corresponds to lifting the item at one end facing the gripping device. Furthermore, the rotational movement is particularly suitable for establishing contact and removing the item from the packaging pattern without damaging it. This is because the force on the item can be very precisely controlled.

[0032] Another embodiment of the invention defines a device configured to perform the movements at least partially as a rotational movement in order to lift the item at the point of contact and thus effect the changed orientation; and to release the item from the packing pattern with an additional axial movement or a further rotational movement of the gripping device. Individual aspects of this embodiment, or the complete embodiment, could also be described as a device configured to lift the item at a point of contact along a first direction with the gripping device; and configured to move the item along a second direction arranged in space at an angle of up to 90 degrees to the first direction, thereby releasing it from the packing pattern.Even with a diagonal movement, such as diagonally upwards, a lateral movement component is obtained in addition to the upward movement. It should be noted that the axial movement can also be performed independently of a rotational movement, for example by using suitable actuators to generate a corresponding movement component, such as by moving the gripping device linearly or axially.

[0033] The inventors have discovered that this embodiment of the invention offers a particularly effective way to remove individual items from the packaging pattern using the device. For example, the item can be brought into the altered orientation by means of a rotational movement or by linearly lifting the item at the point of contact with the gripping device. This makes it possible to remove a wide variety of differently shaped items from the packaging pattern using the device. Furthermore, the axial movement of the device or the continued rotational movement of the gripping device represents a particularly efficient method for removing the item from the packaging pattern, as it is especially easy to implement. In addition, the possibility of removing the item from the packaging pattern by means of the continued rotational movement offers further advantages.

[0034] SUBMISSION VERSION. For DOCX to release the packing pattern, a good alternative to axial movement is presented. Should axial movement not be possible for any reason, e.g., due to spatial limitations within a cargo space, the device can still release the individual items from the packing pattern by means of a rotational movement.

[0035] Another embodiment of the invention defines a device configured to perform the removal of the workpiece along an axial direction; and in which the gripping device is configured to perform a rotational movement in order to move the workpiece further along the axial direction.

[0036] It was recognized that a device according to this embodiment of the invention is particularly well suited for conveying or transporting the individual items after they have been removed from the packaging pattern. For example, in an aircraft cargo hold, the gripping device can be folded away after removal so that the item can be moved further in the axial direction, e.g., the removal direction, for example, by a conveyor belt. This is particularly important in spatially confined spaces, such as the cargo hold of an aircraft, since there is often no other direction possible for conveying the item. Furthermore, it is possible, for example, to use the same movement mechanism of the device that is responsible for moving the gripping device onto the holding element to move the gripping device into position after removal. This represents a synergy effect, as no additional components or...Actuators are required.

[0037] Similarly, aspects of this embodiment, or the complete embodiment of the invention, can be described as a device designed to release the packaged goods along an axial direction; and in which the gripping device can assume a position in which the packaged goods can be conveyed further along the same direction after release, without the gripping device being in the direct path of the packaged goods. Likewise, an advantage of this embodiment of the invention can be described as the fact that the gripping device, which can also be called a deployable flexible element, can be folded away and thus moved out of the path of the conveying direction when the luggage is being transported, thereby preventing a blockage by the gripping device. This can also be described as folding the gripping device upwards or to the side.

[0038] SUBMISSION VERSION. DOCX. Another embodiment of the invention describes a device in which the gripping device is arranged to be movable in multiple axes and is designed to move the workpiece based on a multi-axis movement.

[0039] The inventors have discovered that a device according to this embodiment of the invention can reliably achieve the changed orientation of the packaged goods. Due to the multi-axis design, the contact point can be adjusted, for example, so that the gripping device makes contact with the packaged goods in the middle of one side. This can allow for reliable contact even with packages that are positioned at an angle or at an oblique angle within the packaging pattern. This embodiment can be implemented, for example, by using a SCARA robot to which the gripping device is attached.

[0040] Another embodiment of the invention describes a device designed to establish mechanical contact between the holding element and the workpiece by moving the gripping device onto the workpiece and thereby exerting a force on the holding element.

[0041] It was recognized that this embodiment of the invention is suitable for establishing particularly reliable mechanical contact between the holding element and the workpiece. The device can be configured to move the holding element into a position in which the movement of the gripping device moves the workpiece towards the holding element, thus establishing contact between the holding element and the workpiece and subsequently changing the orientation of the workpiece.

[0042] Another embodiment of the invention describes a device in which the holding element is designed as a passive counter-holding element opposite the gripping device.

[0043] The inventors have discovered that it is sufficient for the holding element to be designed solely as a passive counter-holding element. In such a configuration, no complex movement mechanism or actuators are required on the holding element, as it can function simply as a passive counter-holding element or a reaction element. This embodiment of the invention is particularly advantageous because, when designed solely as a passive counter-holding element, the holding element can be implemented in a very space-saving manner. This allows the holding element to be used even in confined spaces.

[0044] SUBMISSION VERSION. DOCX is to be transported to an end of the package opposite the gripping device, given the limited space available.

[0045] Another embodiment of the invention defines a device designed to guide the holding element past the workpiece in a first relative position, and subsequently to perform a holding element movement of the holding element to move the holding element into a second relative position for the rigid position in which the workpiece is at least partially located between the holding element and the gripping device.

[0046] The inventors have discovered that a device according to this embodiment of the invention can offer further advantages. For example, the first relative position can be defined such that the holding element occupies the smallest possible space along at least one spatial direction (e.g., a vertical direction), thus making it particularly easy to guide the device past the workpiece or even enabling it to do so in confined spaces. This embodiment of the invention also allows for the greatest possible contact between the holding element and the workpiece, since it enables a comparatively larger holding element to be guided past the workpiece than would be possible with the available space for a fixed relative position.

[0047] Another embodiment of the invention describes a device in which the holding element is one of a plurality of holding elements which are arranged next to each other and can be individually controlled; wherein the device is designed to individually position one or more holding elements of the plurality of holding elements on the workpiece opposite the gripping device.

[0048] Using multiple holding elements can be helpful, as this can lead to better contact between the holding elements and the item (compared to a device with only one holding element). Individual control of the holding elements allows, for example, ensuring that only those elements suitable for removing the current item from the packaging pattern are moved into the rigid position by the device.

[0049] Another embodiment of the invention defines a device in which the first relative position is a folded-in position, and the second relative position is an unfolded position.

[0050] SUBMISSION VERSION. DOCX is a position; or where the first relative position is a retracted position, and the second relative position is an extended position.

[0051] The first relative position and the second relative position can be implemented particularly easily by folding in / out or by extending / retracting the holding element, since only a simple movement mechanism is required in each case.

[0052] Another embodiment of the invention describes a device in which the holding element comprises a structure which is flexible in a first state and rigid in a second state; and the device is designed such that in the first relative position of the holding element the structure is in the first state and in the second relative position of the holding element the structure is in the second state.

[0053] The inventors have discovered that this embodiment of the invention is particularly well-suited for guiding the retaining element into a rigid position. The first state of the structure allows the retaining element to be guided past a packing pattern with exceptional ease, while the second state ensures its secure release.

[0054] Another embodiment of the invention describes a device designed to guide the holding element past the workpiece along a direction of movement; wherein, in the first relative position, the holding element has a reduced dimension along a direction perpendicular to the direction of movement compared to the second relative position. It should be noted that the second relative position can correspond to the rigid position and that the direction can, for example, correspond to a vertical direction. The rigid position can be understood in relation to the movement of the gripping device in that the gripping device moves towards the at least temporarily unchanged position of the holding element, and the holding element supports the workpiece against the movement of the gripping device or provides a counterforce.The holding element can optionally, but not necessarily, be arranged to be movable in order to be moved between different relative positions, one of which can be a rigid position.

[0055] A device according to this embodiment of the invention, due to the reduced dimensions of the holding element in the first relative position, can be particularly suitable for moving the holding element to a side of the workpiece opposite the gripping device. Due to the increased dimensions of the holding element in the second relative position,

[0056] SUBMISSION VERSION. Furthermore, the DOCX system allows for a larger contact area between the holding element and the workpiece. This is particularly advantageous because a larger contact area ensures secure contact between the workpiece and the holding element. Additionally, the reduced dimensions in the first relative position allow the holding element to be guided past the workpiece with minimal space requirements.

[0057] Another embodiment of the invention defines a device designed to perform the holding element movement as a rotational movement or an extension movement.

[0058] Since both a rotational movement and an extension movement are very easy to implement technically, this embodiment of the invention can represent a particularly cost-effective way to implement the holding element of the device. A rotational movement of the holding elements could, for example, be implemented such that the holding element is rotatably connected to the device at one end, allowing the orientation to be changed from, for example, a horizontal first relative position to a vertical second relative position. This preferred embodiment can, for example, utilize the gap between the item and an adjacent item within the packing pattern for the rotational movement. An extension movement of the holding element is also possible. In a device according to this embodiment, where the holding element movement is an extension movement, the holding element is configured to extend from a part of the device.This is the case when the cross-section of the device increases in a direction perpendicular to the extension direction.

[0059] Another embodiment of the invention defines a device comprising an impact shield arranged adjacent to the holding element, which is designed to reduce or prevent mechanical contact between the packing pattern and the holding element during the passing of the holding element over the packaged goods and to displace a part of the packing pattern based on mechanical contact with the packing pattern in order to allow a space for movement of the holding element.

[0060] The inventors have discovered that this embodiment of the invention can be particularly advantageous because the impact shield can avoid or prevent mechanical contact between a piece of goods and the holding element by shielding the holding element during movement and / or by arranging the holding element behind the impact shield in the direction of movement. Alternatively or additionally, forces can also be exerted on the packing pattern by means of the impact shield, for example, to

[0061] SUBMISSION VERSION. DOCX to move one or more individual items, for example, to create space for positioning the retaining element. For instance, in aircraft cargo holds, it is often a problem that the packing pattern is in a disordered configuration due to the many movements during flight. Therefore, it can be advantageous to move parts of the packing pattern to allow for movement of the retaining element. Furthermore, the impact shield can ensure a longer lifespan for the retaining element, as it protects the retaining element from unintentional contact with the packing pattern.

[0062] Another embodiment of the invention describes a device in which the item is arranged at the top of the packing pattern (e.g., in the uppermost packing pattern of at least an approximate column of the packing pattern) and is the foremost item in the packing pattern, and the device is designed to establish contact with the gripping device on a front side of the item opposite its rear side. In other words, at least from a local perspective, the uppermost item, and the one foremost with respect to the device, is removed.

[0063] This embodiment of the invention can be particularly advantageous because the processes of the device synergize well with the top-positioned and foremost item. Furthermore, this embodiment of the gripping device is particularly well-suited for establishing contact with the front of the item, as the gripping device does not need to be guided to the rear of the item, thus avoiding a potentially complicated maneuvering of the gripping device past the packaging pattern.

[0064] Another embodiment of the invention defines a device designed to release the individual items from the packing pattern along a direction away from the back of the packing pattern.

[0065] Removing items along a direction away from the back of the packing pattern, i.e., towards the front or towards the device, can be particularly easy to implement, as this corresponds to the direction in which most of the device is located. For example, in the context of an aircraft cargo hold, this would mean that the individual items are removed from the packing pattern and moved towards the cargo hatch.

[0066] Another embodiment of the invention defines a device designed to place the package in front of the packaging pattern after or during removal.

[0067] SUBMISSION VERSION. DOCX. The inventors have discovered that a device according to this embodiment of the invention can be particularly well suited to breaking up the packing pattern, since further movement of the goods is made possible by setting them down. Furthermore, setting them down ensures the gentlest possible handling of the goods.

[0068] Another embodiment of the invention defines a device designed to move the unit load from an initial position into the changed orientation; and to reduce the size of a contact area of ​​the unit load to other unit loads of the packing pattern (e.g. on the underside or side of the unit load) in the changed orientation compared to the initial position.

[0069] By reducing the size of the contact area, the force required to remove the individual items from the packaging pattern can be significantly reduced. This makes it possible to remove the items from the packaging pattern with considerably less force. This ensures that the items can be moved with minimal effort, which in turn leads to gentler handling of the goods.

[0070] Depending on the topology of the unit load, it may be difficult or impossible to move it in its original orientation. The changed orientation could, for example, correspond to a change in the unit load's rotation.

[0071] Another embodiment of the invention defines a device in which the gripping device is designed to adapt to the topology of a piece of goods, for example to create a positive fit.

[0072] A gripping device that adapts to the topology of the workpiece can be particularly suitable for applying force to it. Furthermore, the positive locking mechanism is especially effective for changing the workpiece's orientation. Additionally, the positive locking mechanism makes it easier to move the workpiece with minimal force, thus representing a particularly gentle method of handling it.

[0073] Another embodiment of the invention defines a device in which the gripping device has an elastic surface area facing the workpiece which is designed to adapt to the topology and / or at least one gripping element of the gripping device is flexibly mounted in order to adapt to the topology based on contact.

[0074] SUBMISSION VERSION. DOCX. This embodiment of the invention can allow for particularly advantageous handling of the unit load. For example, an elastic surface area can be used to apply force to the unit load as optimally as possible, thus minimizing damage to the unit load. Furthermore, elastic surface areas are particularly easy to implement, as this can be achieved, for example, with an elastic rubber surface. Additionally or alternatively, the gripping element can also be flexibly mounted to optimally adapt the contact to the surface topology. This also leads to gentle handling of the unit load and is equally easy to implement.

[0075] Another embodiment of the invention defines a device in which the gripping mechanism comprises a plurality, i.e., at least two, of gripping elements arranged laterally and / or offset from one another, which are designed to contact the packaged goods. Individual control of individual or groups of gripping elements is also possible, for example, to control gripping elements from a first operating state to a second operating state or from a second operating state to a first operating state. In the different states, the gripping elements can protrude from a surface to varying degrees or lengths, or possibly not at all. Thus, in a second operating state, the release of packaged goods can be facilitated by retracting the gripping elements, and in the first operating state, the entanglement or engagement with the package can be facilitated.Starting from the first operating state, at least one gripping element can be brought into the second operating state individually or as a group, or vice versa.

[0076] The inventors have discovered that a device according to this embodiment of the invention is particularly well-suited to establishing contact with the goods. The use of multiple gripping elements also allows for a larger contact area with the goods. This larger contact area makes it possible to move the goods into the changed orientation as gently as possible and to remove them from the packaging pattern as gently as possible. Furthermore, the arrangement of the gripping elements, which is laterally and / or offset from one another, is particularly easy to implement, as the gripping elements can be attached to one or more elements, making this a very cost-effective solution.

[0077] Another embodiment of the invention defines a device in which each of the gripping elements of the plurality of gripping elements is pin-like along an axial

[0078] SUBMISSION VERSION. DOCX is formed in the direction of extension and is elastically formed and / or flexibly supported along the axial direction of extension.

[0079] This embodiment of the invention can be particularly advantageous because it allows for a particularly simple and gentle establishment of contact with the workpiece. The flexible mounting of the gripping elements ensures that contact between the gripping device and the workpiece does not damage the workpiece. Furthermore, the pin-like design of the individual gripping elements makes it particularly easy to reorient the workpiece, since forces can be exerted on the workpiece perpendicular to the axial extension direction of the pin to lift it. Advantageously, a gripping device with a large number of pin-like gripping elements establishes particularly good contact between the gripping device and the workpiece, as this contact is then particularly fine-meshed and simultaneously covers a large area. For example, it is possible to flexibly mount the pin-like gripping elements using a spring and / or pneumatic and / or hydraulic system.It is also possible to combine different bearing configurations on the same or different gripping elements. Likewise, individual gripping elements can be mounted with varying degrees of compliance to achieve a better positive fit with the workpiece. For example, a centrally located gripping element can provide a stronger or weaker spring force or holding force than an outer or peripheral gripping element. This can enable the best possible contact between the gripping elements and the workpiece.

[0080] One embodiment of the invention defines a device in which a first subset of gripping elements is connected to a first support structure; wherein a second subset of gripping elements is connected to a second support structure; wherein the first support structure and the second support structure are arranged to be movable relative to each other perpendicular to the axial direction of extension in order to change the distance between the first subset and the second subset in order to hold or release an object at the changed distance. Thus, groups of gripping elements can be moved group by group in a plane perpendicular to an axial direction of extension of the pins.

[0081] A device according to this embodiment of the invention can be particularly well suited to establishing secure contact with a piece of goods. For example, a device according to this embodiment can make it possible to establish further, e.g., lateral contact with the piece of goods at a gripping element using the first subset of gripping elements and the second subset of gripping elements. This contact could also be described as the gripping elements grasping the piece of goods.

[0082] SUBMISSION VERSION. DOCX. This contact need not necessarily be another contact; an additional force can also be applied to an existing contact to achieve the desired effects. It is also possible, or alternatively, for the first subset of gripping elements and the second subset of gripping elements to be mounted on two non-interlocking support structures, or equally possible for the first support structure and the second support structure to be designed such that the first subset of gripping elements and the second subset of gripping elements overlap when viewed from the side and / or are arranged in an interdigital configuration. A device according to this embodiment of the invention makes it possible to establish both a positive fit and a force fit using the gripping elements.A device according to this embodiment of the invention is capable of establishing a particularly secure contact between the gripping elements, or the gripping device, and the workpiece. This makes it possible, for example, to ensure a change in the orientation of workpieces with particularly complex topologies.

[0083] Another embodiment of the invention defines a device in which the gripping elements of the first subset and the gripping elements of the second subset are arranged interdigitally.

[0084] The interdigital arrangement of the first subset and the second subset of gripping elements can result in particularly good contact between the gripping device and the item for many types of goods. This arrangement of gripping elements allows the gripping device to adapt to complex topologies of items. For example, an item with multiple topological protrusions on the side facing the gripping device can be gripped at all of these protrusions.

[0085] Another embodiment of the invention defines a device in which at least one gripping element is designed as an axially movable pin directed towards the workpiece.

[0086] The inventors have discovered that this embodiment of the gripping element is particularly well-suited for establishing contact with the workpiece and represents a simple implementation of the gripping elements. The axially movable design can be implemented, for example, through pneumatic, hydraulic, or mechanical (e.g., spring) bearings for the gripping element. Furthermore, active / adjustable control of individual gripping elements is possible. The exemplary embodiment, a spring-loaded pin directed at the workpiece, can also be manufactured particularly cost-effectively.

[0087] SUBMISSION VERSION. DOCX. Another embodiment of the invention defines a device in which at least one gripping element has an axial extension direction and, at an end region facing the workpiece, has an enlarged lateral dimension perpendicular to the axial extension direction compared to an opposite end region facing away from the workpiece. This enlarged lateral dimension can, for example, also be described as a mushroom head.

[0088] A device according to this embodiment of the invention can be particularly well suited for removing individual items from the packaging pattern. This is because the mushroom-shaped gripping heads can also engage / hook into the topology of the individual items. This can lead to even better contact with the individual items. For example, it is also possible that this makes the holding element superfluous, since a tensile force to remove the individual items from the packaging pattern can already be applied to the individual items by the gripping device.

[0089] Another embodiment of the invention defines a device in which the enlarged lateral dimension exhibits an asymmetrical magnification and extends further radially outwards on a first side of an axis of extension of the gripping element than on a second side. An embodiment of this asymmetrical magnification can also be designed or described as a half mushroom head, a quarter mushroom head, or the like.

[0090] The asymmetrical enlargement can offer an advantage in establishing contact with the workpiece. The increased lateral dimension of the first side of the gripping element ensures the best possible contact between the gripping element and the workpiece, while the slimmer design of the second side of the gripping element prevents unwanted wedging or snagging between the gripping element and the workpiece at that point.

[0091] Another embodiment of the invention describes a device in which the gripping device has at least one gripping element which, in a first operating state of the gripping device, is flexibly mounted for engagement with the packing pattern along an axial extension direction of the gripping element between a minimum contact length and a maximum contact length. Here, the device is designed to select a contact length smaller than the minimum contact length of the first operating state in a second operating state of the gripping device in order to create a contact area of ​​the

[0092] SUBMISSION VERSION. DOCX to reduce the gripping element with the packing pattern compared to the first operating state. (e.g., a contact length of 0 or close to 0)

[0093] The inventors discovered that reducing the contact area of ​​the gripping element can prevent the gripping elements from snagging on any loops or handles of a piece of merchandise. This is helpful when the item has been removed from the packaging and no further interaction between the gripping device and the item is desired.

[0094] Another embodiment of the invention describes a device in which at least one gripping element of the gripping device or the holding element is designed to be slip-resistant. This can be achieved, for example, by providing the gripping element / holding element with a surface, coating, or material that makes it difficult for the item to slip relative to the gripping device / holding element after contact has been established, thus preventing it from changing position. This could, for example, be a rubber coating on the gripping element / holding element or a roughened or corrugated surface.

[0095] A device according to this embodiment of the invention can establish a particularly secure contact, or frictional connection, between the item and the gripping / holding element through its surface or material. For example, a rubber coating or a roughened or corrugated surface can ensure that the item does not unintentionally slip off. This embodiment can be particularly effective in preventing slippage on smooth surfaces of items, such as hard-shell suitcases. This embodiment of the invention also describes the gripping elements being equipped with a friction lining instead of (or additionally) mushroom-shaped grips to generate a force-fit connection (frictional forces). Thus, a device according to this embodiment can, for example,A frictional connection with the goods can be established by means of a rubber coating, a non-slip covering or a roughened surface, and a device with, for example, a corrugated surface of the gripping elements can alternatively or additionally establish a form-fit connection with the goods.

[0096] Another embodiment of the invention describes a device in which at least one gripping element is mounted to rotate eccentrically or is formed as an eccentric; wherein the device is designed to perform an eccentric rotation of the gripping element after contact has been made.

[0097] SUBMISSION VERSION. DOCX. The inventors have discovered that a device according to this embodiment of the invention can establish a particularly secure contact between the gripping device or the individual gripping elements and the workpiece. The eccentric rotation of the gripping elements allows for further lateral contact between the gripping elements and the workpiece and / or the exertion of a lateral force on the workpiece. This enables the workpiece to be clamped against the gripping device. For example, this can ensure a particularly secure contact between the gripping device and the workpiece.

[0098] Another embodiment of the invention describes a device designed to control the plurality of gripping elements individually or in groups as a subset of the plurality of gripping elements between the first and the second operating state.

[0099] A device according to this embodiment can, for example, be very well suited to responding to the individual needs of a piece of merchandise. For instance, the pressure exerted on the merchandise by the gripping elements can be optimally distributed across the gripping elements by a device according to this embodiment. Furthermore, it is also possible to detach individual gripping elements from the merchandise in order to avoid contact with certain areas, such as a delicate handle or lock on the merchandise.

[0100] Another embodiment of the invention describes a device with a transport structure, wherein the gripping device and the holding element are mechanically coupled to the transport structure and movably arranged on the transport structure; wherein the changed orientation of the unit load is a change of orientation relative to the transport structure; wherein the rigid position of the holding element is a rigid position in relation to the transport structure; wherein the device is designed to execute the movement of the gripping device as a relative movement to the transport structure. The transport structure can also be referred to as a support structure, which can, for example, be designed as a telescopic rail.

[0101] The inventors have discovered that a device according to this embodiment of the invention can be particularly advantageous because the movements of the device are especially easy to depict. It becomes particularly clear here that the rigid position of the holding element, combined with the movement of the gripping device, is especially well suited to removing the individual items from the packaging pattern.

[0102] SUBMISSION VERSION. DOCX. Another embodiment of the invention describes a device in which the transport structure is designed for a telescopic movement in order to move an end of the transport structure facing the packing pattern into or over the packing pattern; wherein the retaining element is arranged at the end facing the packing pattern.

[0103] The inventors have discovered that a device according to this embodiment of the invention is particularly well-suited for removing individual items from a packing pattern, as it moves the holding element to a rear end of the item, thereby enabling a particularly secure grip on the opposite side. The telescopic design of the transport structure also allows the device to operate even in spatially confined loading areas. Furthermore, the rigid position of the holding element can be implemented with a very small number of components. This can, for example, contribute to a particularly compact design of the supporting transport structure and the holding element, thus facilitating optimal maneuverability around the packing pattern.

[0104] Another embodiment of the invention defines a device in which the holding element and a transport structure supporting the holding element together, in a first relative position of the holding element and for movement of the holding element past the packing pattern, have a height dimension that is less than an aircraft-associated fire safety clearance to be maintained for the packing pattern. The device can, for example, have a height dimension less than a maximum height; where the maximum height corresponds to the height of a free airspace prescribed by applicable legislation for a fire suppression system in an aircraft cargo hold above the packing pattern. This can, for example, correspond to a maximum height of no more than 15 cm or 10 cm.

[0105] A device according to this embodiment of the invention can enable the device for removing individual items to be used even in spatially limited cargo spaces. For example, according to legal regulations, the cargo hold of an aircraft may only be loaded up to a maximum height below the ceiling of the cargo hold; therefore, a certain amount of clearance must be provided. This is important to ensure fire protection within the aircraft's cargo hold. The device according to this embodiment of the invention is able to utilize this space to guide the holding element past the packing pattern and then, with the aid of the gripping element and the

[0106] SUBMISSION VERSION. DOCX on movement of the gripping element to grasp the individual item and remove it from the packaging pattern.

[0107] Another embodiment of the invention describes a device in which a second gripping device (which, for example, moves along with the gripping device) is arranged in a unit load area of ​​the transport structure and is designed to perform a force-fit with the unit load during the execution of the second movement, either alternatively or in addition to the movement of the gripping device.

[0108] A device according to this embodiment of the invention can enable the creation of an additional or alternative force-fit connection with the unit load, e.g., using a pneumatic gripper. This can be used, for example, to ensure that the unit load can be removed from the packaging pattern even more securely. Furthermore, by coupling the second gripping device to the transport structure, the second gripping device can be positioned on a side of the unit load where no other gripping device, gripping elements, or holding elements are otherwise present.

[0109] Another embodiment of the invention describes a device in which the second gripping device comprises a suction device designed to generate the force-fit based on a suction force.

[0110] The inventors have discovered that a device according to this embodiment is particularly well-suited for individual items in the luggage sector, as the hard-shell suitcases commonly found there are especially easy to grip with the suction device. The combination of the suction device, the holding element, and the gripping device allows for secure contact (or a secure grip) of the individual items by the device.

[0111] Another embodiment of the invention describes a device in which the second gripping device is mounted in a floating manner on the transport structure. This mounting can, for example, also be used for positioning the second gripping device towards the packaged goods.

[0112] This embodiment of the invention can ensure that when the second gripping device lowers / makes contact, not too much pressure is exerted on the gripped item / piece of goods, thus preventing damage to the item.

[0113] SUBMISSION VERSION. DOCX. Another embodiment of the invention describes a device configured to change the orientation of the transport structure on a horizontal plane. Alternatively or additionally, this can be described as a device configured to perform a rotational movement of the transport structure about an axis of rotation, wherein the axis of rotation extends along a transport direction of the transport structure.

[0114] The inventors have discovered that a device according to this embodiment of the invention can establish a particularly secure contact between the device and the goods. This is because not all goods are positioned at a perfect angle to the device within the packing pattern. By changing the orientation on the horizontal plane, it can be ensured that the device is at a better angle and position relative to the goods within the packing pattern. This ensures the best possible contact between the device or gripping mechanism and the holding element with the goods.

[0115] Another embodiment of the invention describes a device comprising a counterforce element designed to exert a counterforce on another piece of the packaging pattern during the removal of the piece of goods, in order to at least partially prevent the other piece of goods from moving along with the piece of goods during removal.

[0116] The inventors have discovered that this embodiment of the invention can reliably remove individual items from a packing pattern without destabilizing or deforming the structure of the packing pattern or unintentionally removing other items. The counterforce element ensures that other items are not also removed from the packing pattern. Such removal of other items could cause them to fall onto the floor in front of the packing pattern or assume other undesirable positions. This could damage the other items and also hinder further processing of them by a device or system according to an embodiment of this invention. For example, it might then be necessary for the other items to be processed manually by a human operator, which can be advantageously avoided.

[0117] Another embodiment of the invention describes a device comprising a sensor arrangement configured to perform a first scanning of at least a first scanning area of ​​the packing pattern; to perform, based on the first scanning

[0118] SUBMISSION VERSION. DOCX to provide an initial sensor signal. The device is configured to determine a rear target area of ​​the workpiece based on the initial sensor signal. The device is configured to move the holding element into the rear target area and to change the relative position of the holding element there in order to move the holding element into the rigid position.

[0119] A device according to this embodiment of the invention can be capable of releasing the individual item from the packaging pattern without human intervention. The rear target area can, for example, represent the rear end of the item or a topological depression in the item. This embodiment of the invention can be described as a sensor for the holding element.

[0120] Another embodiment of the invention describes a device comprising a sensor assembly configured to perform a second scan of at least a second scanning area of ​​the packing pattern; to provide a second sensor signal based on the second scan. The device is configured to determine a target area (e.g., the handle) of the packaged goods based on the second sensor signal; and to guide the gripping device toward the target area to establish contact within that area.

[0121] The inventors have discovered that a device according to this embodiment of the invention can remove individual items from the packaging without human intervention. The target area can, for example, be a handle on the item, where the gripping device can establish particularly good contact. This ensures the safest possible removal of the item, as the probability of it slipping is reduced.

[0122] Another embodiment of the invention describes a device comprising a control device configured to limit movement of the holding element and / or the gripping device based on a movement space configuration within an actuator space; wherein the actuator space is a sub-area of ​​a possible total movement space of the device.

[0123] A device according to this embodiment may be particularly well suited for operation in spatially limited cargo spaces. For example, this embodiment of the invention makes it possible to use the device in an aircraft fuselage, since the

[0124] SUBMISSION VERSION. The DOCX device can be configured in such a way that it does not damage or touch the aircraft fuselage. Damage to the aircraft fuselage would mean the aircraft would be grounded and thus lead to immense consequential costs.

[0125] Another embodiment of the invention describes a device designed to limit any movement of the device to a movement-specific maximum force.

[0126] The inventors have discovered that limiting the force applied to a specific movement can lead to particularly efficient handling of individual items. Individual items, such as luggage, can be damaged by excessive force from, for example, the gripping device. This can result in consequential costs, as the owner of the damaged item may be liable for compensation. This embodiment of the invention can be implemented, for example, by limiting the current supply to individual servo motors—in other words, by monitoring the current of the electric motors during operation. Limiting the force to a specific movement is also possible using a hydraulic system. Furthermore, this embodiment of the invention makes it possible to use the device in aircraft cargo holds.In aircraft cargo holds, excessive force exerted by the device on the aircraft would be dangerous, as it could damage the aircraft. Limiting the maximum force can therefore prevent such damage.

[0127] Another embodiment of the invention describes a device designed for unloading general cargo, where the general cargo is a piece of luggage, in particular an air freight item.

[0128] A device according to this embodiment of the invention may be particularly well suited for extracting pieces of luggage, especially air freight items, from packing patterns.

[0129] Another embodiment of the invention describes a device designed for loading or unloading an aircraft, wherein the general cargo is a piece of luggage or freight.

[0130] The inventors have discovered that the device according to one embodiment of this invention is particularly well suited for loading or unloading an aircraft.

[0131] SUBMISSION VERSION. DOCX. Individual embodiments of this invention address specific problems that may arise during the loading or unloading of an aircraft.

[0132] Another embodiment of the invention describes a device which is further designed to move a plurality of individual items into a packing pattern.

[0133] The inventors have discovered that an embodiment of the invention is also suitable for creating a packing pattern. The subject matter of this invention is not only capable of removing or disengaging the individual items from the packing pattern, but also of moving or inserting the individual items, or other individual items, into a packing pattern. It is possible to disassemble the packing pattern with the device by disengaging all the individual items from the packing pattern and / or to create a new packing pattern with new (or the same) individual items without changing the device. In an aircraft cargo hold, for example, it is thus possible to unload and subsequently load the aircraft using the same device, for instance by completely or partially inverting the movements.

[0134] A second aspect of this invention describes a system with a device according to an embodiment of this invention; a transport device (for example, a conveyor belt) configured to transport the unit load away from or towards the packaging pattern, for example in the case of loading; wherein the device is configured to position the unit load on the transport device.

[0135] The inventors have discovered that a system according to this embodiment of the invention is particularly suitable for creating or dismantling the packing pattern using the device according to an embodiment of the invention. The transport device, which can be designed, for example, as a conveyor belt, can supply the device with new items or transport items away from the device. Positioning the items within the device is also particularly advantageous, as this allows the items to be transported further without human intervention, or rather, positioned so that they can be picked up by the device.

[0136] Another embodiment of the invention describes a system in which the transport device is designed to exert a counterforce on another item from the packaging pattern to prevent the other item from being detached during the removal of the first item. The transport device can, for example, be...

[0137] SUBMISSION VERSION. DOCX anals can be used with the counterforce element described above or equipped with an additional impact shield.

[0138] This embodiment of the invention can reliably remove individual items from a packing pattern without destabilizing or deforming the structure of the packing pattern or unintentionally removing other items. The counterforce ensures that other items are not also removed from the packing pattern. Such removal of other items could cause them to fall onto the floor in front of the packing pattern or assume other undesirable positions. This could damage the other items and further complicate their processing by a device or system according to an embodiment of this invention. For example, it might then be necessary for a human operator to process the other items manually, which can be advantageously avoided.It is also particularly advantageous to use the transport device to exert the counterforce, as it is often already in a suitable position and therefore no further components are required.

[0139] Another embodiment of the invention describes a system in which the gripping device is supported on the transport device.

[0140] The inventors have discovered that supporting the gripping device on the transport device can lead to a particularly efficient implementation of the system, as additional components can be dispensed with and relative movements can thus be implemented more easily.

[0141] Another embodiment of the invention describes a system designed to position at least one guide element (for example, also described as a cake pusher) laterally adjacent to the product in order to guide a lateral movement of the product during removal.

[0142] The inventors discovered that the guide element can be advantageous during the removal of the individual items. It is possible to design the guide element in such a way that it assists in positioning the item on the transport device. For example, at the edge of a cargo space or packing pattern, it can happen that the device or transport system cannot be perfectly positioned under the item. This occurs, for example, in the cargo hold of aircraft, which

[0143] SUBMISSION VERSION. DOCX anTI

[0144] The guide elements become progressively narrower towards the bottom. Therefore, it's possible for a single item within the packaging pattern to be positioned further out than the transport device. For example, a funnel shape can be implemented with the guide element to create a general lateral boundary, preventing the item from falling off the transport device or guiding it onto the device. If multiple guide elements are present, gripping the item is also possible.

[0145] Another embodiment of the invention describes a system designed to position at least one guide element to assist in positioning the unit load on the transport device.

[0146] The inventors have discovered that a system according to this embodiment of the invention is particularly well-suited for aligning general cargo with different orientations. Alternatively or additionally, the system can adapt to the specific requirements of a cargo space. For example, this embodiment of the invention makes it possible to create a funnel shape with the aid of the guide element, which can direct the general cargo onto the transport device. This prevents unintentional falls next to the transport device. Furthermore, the system can also ensure the continued transport of general cargo on the transport device, for example, in cargo spaces that narrow towards the bottom. In such cargo spaces, it may not be possible to position the transport device directly below the general cargo. The guide element, which, for example,Although the system can form a chute for the individual items, it can still remove the items from the packing pattern as efficiently and safely as possible and then position them on the transport device. If the system is designed for loading, the positioning of the items can also be used to ensure they are properly oriented on the transport device for pickup.

[0147] Another embodiment of the invention describes a system designed to position at least one guide element laterally adjacent to the workpiece in order to bring the workpiece into a receiving position for the device.

[0148] The inventors discovered that the individual items cannot always be guided in the correct position on the transport system to the device. Therefore, it can

[0149] SUBMISSION VERSION. DOCX may require that the guide element repositions or pushes the workpiece in order to then grip the workpiece with the device.

[0150] Another embodiment of the invention describes a system in which the transport device is designed as a counterholding element to exert a counterforce on another piece of the packaging pattern during the removal of the unit item (103) in order to at least partially prevent the other unit item from moving along with the unit item during removal.

[0151] The inventors have discovered that by using the transport device as a counter-holding element, a synergy effect can be created, thus eliminating the need for additional components to achieve the advantages of a counter-holding element.

[0152] Another embodiment of the invention describes a system which is configured to process a plurality of unit loads, wherein the system is configured to receive the plurality of unit loads in a first sequence and to output them in a modified second sequence.

[0153] The inventors have discovered that the order in which individual items are processed can significantly influence the quality of the packing pattern. For example, this embodiment of the invention makes it possible to temporarily store a small item before first inserting a larger item into the packing pattern and then placing the small item on top of the larger one. This can result in a more stable packing pattern. Furthermore, changing the order can also lead to more efficient use of available space, which is particularly relevant in air freight.

[0154] The subject matter of the second aspect of the invention can also include a packing system designed to store the next unit of goods at the same horizontal height as the transport device in a first storage position, or to move the unit of goods vertically to a second storage position relative to the transport device. This makes it possible to temporarily store the units of goods in a particularly space-saving manner and thus to operate as efficiently as possible even in spatially limited storage areas.

[0155] Another embodiment of the invention describes a system that has a sorting volume and is designed to separate at least one item from the plurality of items.

[0156] SUBMISSION VERSION. Temporarily include DOCX files in the first order in the sorting volume and output them from the sorting volume to a different position in the second order.

[0157] The inventors have discovered that the sorting volume allows for the creation of a second order of individual items, which can lead to a better packing pattern. For example, this embodiment of the invention makes it possible to temporarily store one (or more) small items in order to first insert a larger item into the packing pattern and then place the small item on top of the larger one. This can result in a more stable packing pattern. Furthermore, changing the order also allows for more efficient use of available space, which is particularly relevant in air freight.

[0158] Another embodiment of the invention describes a system comprising a feed element (for example, a punch or a punch element) designed to assist in the insertion of the unit into the packaging pattern by applying a pressure force to the unit.

[0159] The inventors have discovered that the feed element can be advantageous for inserting individual items into the packaging pattern. The additional force of the ram or feed element ensures secure insertion of the item and minimizes the amount of space between the item and the item behind it. In other words, the feed element allows for a particularly compact packaging pattern.

[0160] Another embodiment of the invention describes a system in which the transport device is the feed element.

[0161] The inventors discovered that the transport device can be used as a feeding element, thus eliminating the need for additional components. This can reduce the system's production costs.

[0162] A third aspect of the invention describes a device for removing a piece of goods from a packaging pattern, comprising a movable gripping device (e.g., an adaptive gripper) designed to establish mechanical contact with the piece of goods and to exert a force on the piece of goods; wherein the gripping device has a plurality of gripping elements extending along an axial direction and arranged laterally adjacent to one another and designed to

[0163] SUBMISSION VERSION. DOCX to establish mechanical contact with the unit load; wherein a first subset of the gripping elements is connected to a first support structure; wherein a second subset of the gripping elements is connected to a second support structure; wherein the first support structure and the second support structure are arranged movably relative to each other perpendicular to the axial extension direction in order to change a distance between the first subset and the second subset in order to hold or release an object at the changed distance; wherein the device is configured to change the orientation of the unit load to a changed orientation based on the mechanical contact; and to release the unit load from the packing pattern in the changed orientation.

[0164] The inventors have discovered that a device according to this embodiment is particularly effective at removing individual items from the packaging pattern. This is because the division into a first subset and a second subset of gripping elements results in a better hold between the gripping device and the item. For example, it is possible to move the two subsets towards each other and create a grip on the item. This establishes not only contact but also a force-fit connection; in other words, the gripping elements are aligned and engage the package. This can, for example, make it possible to remove the item from the packaging pattern without a holding element.

[0165] A further embodiment of the invention describes a device with a holding element designed to hold the workpiece in a rigid position on one side opposite the gripping device for removal; wherein the gripping device is designed to perform a movement of the gripping device onto the holding element.

[0166] The inventors have discovered that combining the device of the third aspect of the invention with the first aspect is also possible. Thus, the device, which includes a holding element, can be used for even better / easier removal of the workpiece. Furthermore, it is possible to combine all embodiments of the first aspect, individually or in combination, with a device according to the third aspect of the invention.

[0167] A fourth aspect of the invention describes a gripping tool with a mechanical interface designed for repeated and reversible mechanical coupling by means of a robot receptacle; wherein the gripping tool has a pivot arranged movably relative to the interface for a tilting or rotational movement

[0168] SUBMISSION VERSION. DOCX has a gripping device, wherein the gripping device comprises a plurality of gripping elements arranged side by side, each of which is configured to contact an object; wherein each gripping element extends along an axial direction and is elastically formed or flexibly mounted along the axial direction. Release can also be performed by a robot.

[0169] The inventors have discovered that a gripping tool according to this embodiment of the invention is particularly well-suited for use as a gripping device in a device according to an embodiment of this invention. The ability to perform the mechanical coupling repeatedly and reversibly allows for quick exchange of the gripping tool, thus enabling, for example, adaptation to the specific needs of a packaging pattern. If the packaging pattern consists of many hard-shell cases, for instance, a different gripping tool may be more suitable than the one currently installed. The features of this embodiment then allow for quick and easy replacement of the gripping tool. The described gripping tool can, for example, be used as (part of) a gripping device in an embodiment of a device according to this invention.

[0170] A fifth aspect of the invention describes a gripping tool for establishing contact with a piece of goods, comprising a mechanical interface designed for repeated and reversible mechanical coupling via a robot mount; a plurality of gripping elements extending along an axial direction and arranged laterally adjacent to one another and configured to establish contact with the piece of goods; wherein a first subset of the gripping elements is connected to a first support structure; wherein a second subset of the gripping elements is connected to a second support structure; wherein the first support structure and the second support structure are arranged to be movable relative to each other perpendicular to the axial direction in order to change the distance between the first subset and the second subset in order to hold or release an object at the changed distance.The release can also be performed by a robot. Such a gripping tool can be designed as a tool for a robot, which temporarily picks up the tool by means of mechanical and, if necessary, electrical or pneumatic / hydraulic coupling, for example in a logistics environment.

[0171] The inventors have discovered that a gripping tool according to this embodiment of the invention is particularly well suited as a gripping device in a

[0172] SUBMISSION VERSION. The device described in DOCX is suitable. The ability to perform the mechanical coupling repeatedly and reversibly makes it possible to quickly exchange the gripping tool and thus, for example, to respond to the specific needs of a packaging pattern. Changes in the properties of the packaging pattern, such as surface finish or weight, may mean that a different gripping tool is more suitable than the one currently mounted. The features of these embodiments then allow for quick changes of the gripping tool. Furthermore, it is possible to create a force-fit connection to the workpiece using the walking tool, thus ensuring better contact between the gripping tool and the workpiece. The described gripping tool can, for example, be used as (part of) a gripping device in an embodiment of a device according to this invention.

[0173] Another embodiment of the invention describes a gripping tool in which the gripping elements of the first subset and the gripping elements of the second subset are arranged interdigitally.

[0174] The inventors have discovered that a gripping tool according to this embodiment can offer further advantages in establishing contact. For example, the interdigital arrangement makes it possible to optimally cover even complex component topologies and / or achieve the same advantages as previously described. If a suitcase, for instance, has several handles, the interdigital arrangement can optimally contact each of these handles by moving the subsets against each other. "Interdigital" here can mean, for example, interlocking, or figuratively described as "like fingers interlocking."

[0175] Another embodiment of the invention describes a gripping tool in which the majority of gripping elements are elastically formed at an end region and / or are flexibly mounted in order to adapt to the topology of the workpiece upon contact with the workpiece.

[0176] The inventors have discovered that a gripping tool according to this embodiment of the invention is particularly well suited for establishing contact with the workpiece. Due to the elastic and / or compliant design of the majority of gripping elements, it is possible to replicate the topology of the workpiece as accurately as possible, thus ensuring the most uniform and comprehensive contact possible between the gripping device and the workpiece.

[0177] SUBMISSION VERSION. DOCX. Another embodiment of the invention describes a gripping tool which comprises an interface for at least one consisting of a force transmission, an energy transmission and a data transmission.

[0178] The inventors have discovered that valuable information, force, or energy can be transferred through an interface, which can be used directly to perform a movement of the gripping device.

[0179] Another embodiment of the invention describes a gripping tool, wherein the gripping tool is a gripping device of a device according to an embodiment of the invention.

[0180] Character description

[0181] Exemplary embodiments according to the present disclosure are explained in more detail below with reference to the accompanying figures. With regard to the schematic figures shown, it should be noted that the functional blocks depicted are to be understood both as elements or features of the device according to the disclosure and as corresponding process steps of the disclosed method, and corresponding process steps of the disclosed method can also be derived from them. The figures show:

[0182] Fig. 1a-b lateral schematic representations of a device according to an embodiment of the invention;

[0183] Fig. 2 shows a schematic side view of a device according to an embodiment of the invention when making contact with a piece of goods;

[0184] Fig. 3a-f shows schematic side views of the process of removing a piece of goods from a packaging pattern using a device according to an embodiment of the invention;

[0185] Fig. 4a-c frontal and lateral schematic representations of a gripping device with gripping elements movable relative to each other according to an embodiment of this invention;

[0186] Fig. 5a-f lateral schematic representations of the temporal sequence during contact of a gripping device according to an embodiment of the invention with a piece of goods;

[0187] Fig. 6 shows a lateral schematic representation of a gripping device according to an embodiment of this invention;

[0188] SUBMISSION VERSION. DOCX anFig. 7a-c lateral schematic representations of the temporal sequence during contact of a gripping device according to an embodiment of the invention with a piece item;

[0189] Fig. 8a-c lateral schematic representations of the temporal sequence during contact of a gripping device with eccentrically mounted gripping elements according to an embodiment of the invention with a piece of goods;

[0190] Fig. 9a-b lateral schematic representations of the process of removing a piece of goods from a packing pattern of a device with a counterholding element according to an embodiment of the invention;

[0191] Fig. 10a-d schematic top views of a system which modifies a sequence of individual items and inserts them into a packing pattern;

[0192] Fig. 11a-h schematic top views of a system with a guide element and partially a feed element during loading or unloading of a cargo space; Fig. 12 a side schematic representation of a device with a feed element during insertion of a piece of goods into a packing pattern;

[0193] Figs. 13a-c show representations of a device and a system within a cargo space; Figs. 14a-g show representations of a system with a device and detailed views of individual components thereof in different situations and positions;

[0194] Fig. 15a-d frontal schematic representations of various exemplary embodiments of gripping elements;

[0195] Fig. 16 shows a lateral schematic representation of a gripping tool with a first support structure and a second support structure;

[0196] Fig. 17 shows a lateral schematic representation of a gripping tool with a movable gripping device;

[0197] Figs. 18a-j schematic representations of various embodiments of retaining elements; and

[0198] Fig. 19a-c schematic sections of a gripping device in a first operating state and a second operating state.

[0199] Detailed description of the embodiments according to the figures

[0200] Before the following exemplary embodiments are explained in detail with reference to the drawings, it should be noted that identical, functionally equivalent or equivalent elements, objects and / or structures in the different figures are provided with the same or similar reference numerals, so that the description of these elements shown in different exemplary embodiments is interchangeable or can be applied to each other.

[0201] SUBMISSION VERSION. DOCX. The following exemplary embodiments are described in conjunction with a multitude of details. However, exemplary embodiments can also be implemented without these detailed features. Furthermore, for the sake of clarity, exemplary embodiments are described using block diagrams as a substitute for detailed representations. Additionally, details and / or features of individual exemplary embodiments can readily be combined with one another unless explicitly stated otherwise.

[0202] The following lists of materials, environmental influences, electrical properties and optical properties are to be regarded as examples and not as exhaustive.

[0203] Exemplary embodiments of the present invention relate to the establishment of a mechanical contact, for example between a gripping device and a piece of goods. The mechanical contact is also referred to simply as a contact, so that a contact described herein is to be understood as a mechanical contact and does not necessarily entail an electrical contact.

[0204] Fig. 1a shows a schematic block diagram of a device 100 according to an embodiment of the invention and a piece of goods 103. The device 100 comprises a gripping device 102 and a holding element 101, wherein the gripping device 102 is movably arranged to allow movement 105 of the gripping device 102. The movement 105 of the gripping device 102 comprises at least one rotational movement 105i, a first axial movement 1052, and a second axial movement 105a.

[0205] Any combination using one, two, or three of these motion components is possible within the scope of exemplary embodiments. The gripping device 102 is configured to establish mechanical contact with the workpiece 103 and to exert a force on the workpiece 103. The holding element 101 is configured to assume a rigid position, at least with respect to the movement 105 of the gripping device 102, and to hold the workpiece 103 on one side opposite the gripping device 102. In one embodiment, the gripping device 102 can press the workpiece 103 against the holding element 101 based on the mechanical contact. This pressing action is an optional feature that can be omitted if, for example, the workpiece 103 is moved based on the rotational movement 105i.

[0206] SUBMISSION VERSION. DOCX and / or the axial movement 1053 is already lifted on one side to change the orientation and to change the unit load into a changed orientation 104.

[0207] The movement 105 allows the orientation of the unit item 103 within the packing pattern to be changed to the altered orientation 104, for example by realizing movement 105i and / or 1053, preferably such that the contact area of ​​a contact surface with other unit items is reduced, which enables easy removal of the unit item 103 from the packing pattern. At the same time, the altered orientation can also allow the holding element 101 to be positioned as a rigid element between two unit items, since the movement space for movement 105 is provided in an area of ​​the gripping device 102.

[0208] The gripping device 102 and the holding element 101 can be supported on different or a common structure. For example, both structures can be arranged or attached directly or indirectly to a floor or wall structure, or a mechanical connection between the two structures can be provided by arranging a coupling structure or a transport structure as described in more detail in Fig. 1b.

[0209] The removal or extraction of the item 103 can be carried out by a joint movement of the gripping device 102 and the holding element 101 along a removal direction 106, i.e. towards the gripping device 102, wherein, with respect to the position of the gripping device 102, the holding element 101 preferably remains rigid in order to form a reference for the force of the gripping device 102.

[0210] Fig. 1b shows a schematic side-sectional view of a device 199 according to an embodiment of the invention. The device 199 can comprise a transport structure 108 to which a holding element 101 can be attached. The holding element 101 is shown in a relative position in which it assumes an at least temporarily rigid position, which can be used for removing a piece of goods / package from a packing pattern along a removal direction 106. In an advantageous, albeit optional, embodiment, the holding element 101 can have a different position or relative position at other time intervals, for example, folded or retracted, which can make it possible to easily guide the holding element 101 past a packing pattern.The retaining element 101 can be arranged at any position on the transport structure 108, but the exemplary arrangement at a first end 111 of the transport structure 108 also allows for use in closed volumes, such as containers.

[0211] SUBMISSION VERSION. DOCX can be moved up to a wall structure, such as a back wall, to hold a piece of equipment located there. Furthermore, the fixed position of the holding element 101 can assume any angle relative to the transport structure 108. Examples of this are angles between 75° and 115°, or exactly 90°. The angle can be fixed or adjustable within a range of values.

[0212] The device 199 comprises a movable gripping device 102 for performing one or more movements 105i, 1052 and / or 1053. It is possible and advantageous for the gripping device 102 to be arranged on the transport structure 108, but this is not necessary, as the gripping device 102 can also be supported, for example, on a base surface, such as a floor or an optional conveyor belt (not shown) for feeding or removing unit loads. The gripping device 102 is designed to mechanically contact the unit load to be removed from the packaging pattern. For this purpose, the gripping device 102 can comprise one or more gripping elements 107, which can form a continuous or distributed contact surface or the like.In an advantageous embodiment, the gripping device 102 is designed to perform the axial movement 1052 as a horizontal movement, the axial movement 1053 as a vertical movement, and a rotational movement 105i at least at different times. The horizontal axial movement 1052 can, for example, be carried out by a slide 110 movable on the transport structure 108.

[0213] To remove a unit item from a packaging pattern, the holding element 101 can, for example, be moved into the packaging pattern and / or over the packaging pattern or the unit item. This can be achieved, for example, by a telescopic or telescopic design of the transport structure 108. The gripping device 102 can be positioned in a suitable position in front of the unit item by means of the horizontal axial movement 1052 and the vertical axial movement 1053, and contact between the gripping device 102 and the unit item can then be established, for example, by the rotational movement 1053 and / or a continuation of the movement 1052. A change in the position of the unit item can be achieved, for example, by the vertical axial movement 1053 of the gripping device 102 or by continuing the rotational movement 105i of the gripping device 102.

[0214] The horizontal axial movement 1052, the vertical axial movement 1053, and the rotational movement 105i of the gripping device 102 are shown here by way of example for the movement 105 of the gripping device 102. A device 199 according to the subject matter of this invention can be configured to perform all movements 105i, 1052, 1053, or a subset of the

[0215] SUBMISSION VERSION. DOCX to perform movements 105i, 1052, 105a or additional movements not shown.

[0216] According to one embodiment of the invention, the gripping device 102 can be designed to adapt to the topology of the workpiece. In the exemplary schematic representation of the device 199 in Fig. 1b, this is illustrated by the gripping elements 107, which in one possible embodiment are shown as individual pins that can be flexibly mounted.

[0217] According to one embodiment of the invention, the gripping device 102 can be designed to perform a rotational movement after the piece has been removed, in order to move the piece further, e.g. in the removal direction 106. This can be achieved, for example, by the rotational movement 105i, which moves the gripping device 102 away from the piece.

[0218] Fig. 1b shows the retaining element 101 in a second relative position, which can correspond to a rigid position. A different first relative position of the retaining element 101 can, in this example, include a horizontal position. Such an orientation allows for a small space requirement along one direction of movement 1053, such as a vertical direction, which offers the advantage of being usable in spatially / geometrically limited cargo spaces, especially when the component thickness relevant in the first relative position is less than the component length relevant in the second relative position. The device 199 can therefore be used, for example, in an aircraft fuselage.

[0219] According to one embodiment of the invention, the device 199 can be configured to align the transport structure 108 in a plane, such as an x / y plane of an exemplary coordinate system, which may but may not necessarily be a horizontal plane in an x-direction 109 x and a y-direction 109 y can extend, to change. This can be, for example, a second rotational movement around a rotational axis, where the rotational axis runs along the transport structure 108.

[0220] Device 100 and device 199 differ systematically from existing devices for processing individual items. According to the present concept, an active and movable gripping device is positioned on one side of the package pattern, towards which the removal is to take place. The individual item is gripped, for example, at a front side and supported from behind by means of the holding element, whereas, for example, in US

[0221] SUBMISSION VERSION. DOCX an2024 / 0253246 A1, an active intervention device, positioned behind which the unit load is moved into a front-facing receptacle, but which disadvantageously requires a large movement space at the rear of the unit load.

[0222] Fig. 2 shows a schematic side view of an exemplary gripping device 102, according to an embodiment of the invention, after establishing mechanical contact with a piece of goods 103. The gripping device 102 can comprise one or more gripping elements 107, and the gripping device 102 can be attached to a transport structure 108. The gripping device 102 can be mechanically coupled to the transport structure 108, and the transport structure 108 can also partially project over the piece of goods 103. The piece of goods 103 is shown by way of example as a case, which can include a handle 212, which is arranged by way of example on the side facing the gripping device.

[0223] Figure 2 illustrates an advantageous embodiment in which the gripping device 102 is designed to adapt to the topology of the unit load 103 with gripping elements 107. This can be achieved in a non-restrictive implementation by having at least one or more or all of the gripping elements 107 flexibly mounted.

[0224] Alternatively or additionally, the flexibly mounted gripping elements 107 can be designed such that they establish mechanical contact over a large contact area between the gripping elements 107 and the workpiece 103. For this purpose, for example, gripping elements 107' can be pressed in by a comparatively smaller distance along an axial direction 158 than adjacent gripping elements 107" (for example, in a region of the handle 212), providing an additional contact or bearing surface along a direction perpendicular to the axial direction 158, approximately parallel to gravity. The handle 212 of the workpiece 103 is merely an exemplary representation / designation of a feature of the workpiece 103's topology. In other words, the gripping device 102 (or the gripping elements 107' and 107") are all capable of grasping.

[0225] A change in the orientation of the workpiece 103 can be achieved by a rotational movement 105i of the gripping device 102 and / or by an axial movement 1053 of the gripping device 102. The efficiency of the mechanical contact can be further improved by equipping one, several, or all of the gripping elements 107, for example, with an adhesive or non-slip surface.

[0226] SUBMISSION VERSION. DOCX. It should be noted that the gripping device 102 does not require a frame enclosing the gripping elements 107. This makes it possible to grip even individual items whose spatial dimensions exceed the maximum contact area of ​​the gripping device 102. A frame around the gripping elements 107 would prevent such an application, as it can make it impossible in many cases to adapt the gripping elements 107 to the topology of the individual item.

[0227] Figs. 3a-f show an exemplary schematic side section view of a possible process of removing a piece of goods 103 from a packing pattern 319 with a device 300 according to an embodiment of the invention.

[0228] Fig. 3a shows the device 300 in a first state. The unit load 103 can lie on top of another unit load 315. The unit load 103 and the other unit load 315 can form at least parts of the packing pattern 319, which can be located within a volume 316, for example, a cargo space 316. Parts of the device 300, for example, the retaining element 101, are moved by an axial movement 318 over the packing pattern 319 or past the unit load 103, whereby a folded or retracted state is suitable as the first relative position of the retaining element 101 in order to minimize the space required for this movement.

[0229] For movement, an airspace 313 above the packing pattern 319 can be used to move the device 300 into a desired position. The cargo space 316 can, for example, be part of an aircraft; the airspace 313 can possibly correspond to at least a regulatory and / or, due to fire protection regulations, prescribed airspace 313 above a packing pattern 319. The holding element: The device 300 can comprise a transport structure 108 to which the gripping device 102 is attached. The device 300 of Fig. 3 can, for example, be the device 199 or the device 100 from Fig. 1. The airspace 313 can, for example, correspond to a legally prescribed clearance (gap) between individual items 103 or packing pattern 319 and a ceiling of the cargo space 316. The device 300 can, for example, be a transport structure 108 to which the gripping device 102 is attached. B. be designed to have at least a partially small height dimension (along the z-direction 109) z ) as a height dimension of airspace 313.

[0230] Fig. 3a shows that the retaining element 101, in the illustrated relative position, requires only a small height. This allows the retaining element 101 to be moved into a position where, in a modified second relative position, it can assume a rigid position as shown in Fig. 3b, in which at least part of the piecework 103 is held between the

[0231] SUBMISSION VERSION. DOCX is arranged on the holding element 101 and the gripping device 102, or on one of the sides opposite the gripping device 102.

[0232] Optionally, a device described herein, such as device 100, 199, and / or 300, may be equipped with a sensor device configured to determine how far the holding element 101 is moved into or over the packing pattern 319. In some embodiments, it may be sufficient to only partially guide the holding element 101 past the unit item 103 and, in its second relative position, to use the holding element 101 to contact the unit item 103 at, for example, a top-lying side surface. Contact there, for example in the area of ​​a handle or a recess in the unit item 103, may be sufficient to change its orientation and / or release it from the packing pattern 319. The sensor device may, for example, be used to detect a suitable topological recess in the unit item 103.This can be used by a control device of the apparatus to position the gripping device and / or other elements, such as the holding element 101, in order to control a desired target position.

[0233] Fig. 3b shows the device 300 in which the holding element 101 is in the rigid position. In the rigid position, the holding element 101 can be located relatively perpendicular to the transport structure 108 compared to the first relative position, which can provide a comparatively larger contact area for the unit load 103.

[0234] Although the gripping device 102 is not yet in contact with the unit 103, it is already possible to remove it from the packing pattern 319. This can be achieved, for example, by "pulling out" the retaining element 101 in its rigid position. However, the inventors have found that this is not possible in many cases, as the force required can be very high, or it may even be impossible due to the position of the unit. High forces can damage the unit 103 and should therefore be avoided. Depending on the specific properties (e.g., topology or surface material) of the unit 103 and the surrounding units, such as the other unit 315, it may also be possible to remove the unit 103 from the packing pattern 319 using the device 300 with only the retaining element 101 in its rigid position.

[0235] Fig. 3c shows the device 300, in which a first axial movement 1052 of the gripping device 102 is depicted. The device 300 can be designed such that the movement 105 of the gripping device 102 includes, for example, the first axial movement 1052, which moves the gripping device 102 axially towards the workpiece 103. It should be noted that

[0236] SUBMISSION VERSION. DOCX andass a sequence of contacting the unit item 103 with the holding element 101 on the one hand and the gripping device 102 on the other hand can also be reversed or carried out simultaneously.

[0237] In Fig. 3d, the device 300 is shown in a state that can be obtained after the first axial movement 1052. The gripping device 102 is located on a first, for example, frontal side of the workpiece 103, and the gripping device 102 has adapted to a topology of the workpiece 103. A more detailed exemplary representation of the topological adaptation is shown in Fig. 2.

[0238] Fig. 3e depicts the device 300 in which a second axial movement 1053 of the gripping device 102 is performed. The second axial movement 105a, which can be performed perpendicular to the first axial movement 1052, allows the workpiece 103 to be brought into the altered orientation 104 shown. This is possible due to the positive locking, or force locking, of the gripping device 102 with the workpiece 103, which was established by the first axial movement 1052. The contact area between the workpiece 103 and the other workpiece 315 can be significantly reduced by the second axial movement 1053. The first axial movement 1052 and the second axial movement 1053 of the gripping device 102 can constitute the movement of the gripping device 102. Alternatively or additionally, it is possible to replace or supplement the first axial movement 1052 and / or the second axial movement 1053 with a rotational movement, for example the rotational movement 105i.

[0239] Fig. 3f shows the device 300, which releases the unit of goods 103 in the modified orientation 104 from the packaging pattern 319 along a release direction 106. The holding element 101 in the rigid position and the gripping device 102 on opposite sides of the unit of goods 103 enable a force-fit connection between the device 300 and the unit of goods 103, allowing the unit of goods 103 to be reliably released from the packaging pattern 319. In this embodiment, the device 300 can deliberately dispense with lifting the unit of goods 103, as this is rendered unnecessary by the subject matter of the invention. The modified orientation 104 minimizes the contact of the unit of goods 103 with the rest of the packaging pattern 319 to such an extent that release along a release direction 106 is possible. This can be particularly advantageous for heavy unit of goods, as lifting them can require considerable force.

[0240] With reference to Figs. 3a-f, an advantageous further development of the invention is described in such a way as to accommodate optionally inclined or arranged unit loads 103 or

[0241] SUBMISSION VERSION. To be able to trigger DOCX. For this purpose, the gripping device 102 can be designed to perform a multi-axis movement, e.g. a rotation about the z-axis 109. z and / or y-axis 109 yas well as, alternatively or additionally, an axial movement with at least two directional components. The gripping device 102 can be controlled, for example by a control unit of the device 300, to align the inclination of the gripping device 102 with the inclination of a surface of the unit item 103. If the unit item 103 is inclined or slanted relative to the reference orientation shown in Fig. 3a-f, this can result in a correspondingly inclined gripping device 102, in order to ensure good contact between the elements. The gripping device 102 can then be used to move the unit item 103 into a straight position or orientation before removal from the packaging pattern 319 and / or to remove the unit item 103 at an angle or inclination.

[0242] Fig. 4a shows a schematic view of a gripping device 102 a according to an exemplary embodiment. The gripping device 102 acan be movable relative to each other gripping elements 107i a , 10?2 a include, as an alternative or in addition to the relative movements for topology adaptation, a movement perpendicular to this, e.g. in an x / y plane 442, to adjust a distance between gripping elements 107i a , 1072 a to be modified individually or in groups. Fig. 4a shows a schematic example of support structures 420i and 4202 of the gripping device 102. a from a frontal view, with the gripping device 102 aThe first support structure 420i and / or a second support structure 4202 may comprise, without precluding further support structures. Sections of the first support structure 420i and the second support structure 4202 may be arranged interdigitally and along directions along a distance movement 422i and / or a distance movement 4222, or the first support structure 420i and the second support structure 4202 may be arranged interlockingly. This embodiment of the invention may also be referred to as a split perforated plate. The first support structure 420i may have locations, e.g., openings, for receiving a first subset of gripping elements 107i. a include and the second support structure 4202 can provide locations, e.g. openings, for receiving a second subset of gripping elements 1072 a include the gripping elements 107i. a , 1072 acan be arranged on or at the support structures 420i and 4202, which makes it possible for a relative movement between the support structures 420i and 4202 to allow a relative movement between the subsets of gripping elements 107i a and 1072 a This results in the following: The gripping elements that are movable with respect to adjacent gripping elements can be arranged on / along a plane 442 to form, for example, rows or columns of a matrix, which is merely an example but enables a simple interdigital arrangement.

[0243] SUBMISSION VERSION. DOCX anFig. 4a can also be described in other words than that plate 1 (first support structure 420i) and plate 2 (second support structure 4202) are divided in such a way that they can be positioned relative to each other. The positioning movements cause a gripping device 102 to act as an active element for receiving the pins / mushroom heads / active elements (gripping elements 107i). a and 107 2aIn other words, the gripping device 102 can be configured as an accessing device.

[0244] Fig. 4b shows the gripping device 102a in a side view, where the first support structure 420i and the second support structure 4202 are represented as a single element in the side view. The subsets of the gripping elements 107i can be mounted on the first support structure 420i and the second support structure 4202. a and 107 2a Fig. 4b shows a first state in which the support structures 420i and 4202 are spaced apart as in Fig. 4a along the directions of the spacing movement 422i and / or the spacing movement 4222.

[0245] Regardless of the arrangement of the gripping elements 107i a and 107 2aOn different carrier structures 420i and / or 4202 that are movable relative to each other, exemplary embodiments provide that one or more gripping elements 107 may have a locally enlarged lateral dimension 423 at an end facing a workpiece. Exemplary embodiments are shown in Fig. 4b and Fig. 4c as a mushroom head 421. a and a mushroom cap 421 b The gripping elements 107i a and 107 2a Can the mushroom heads 421 a and 421 band comprise a pin element 424, wherein the enlarged lateral dimension 423 refers to an enlargement of the cross-section compared to the other lateral dimension 425. Furthermore, Fig. 4b shows a first spacing movement 422i for the first support structure 420i and a second spacing movement 4222 for the second support structure 4202. These represent possible movements of the support structures 420i and 4202 by which the spacing of the first subset of the gripping elements 107i a and the second subset of gripping elements 107 2a can be changed.

[0246] The enlargement of the lateral dimension 423 can, for example, include a symmetrical or asymmetrical increase in circumference. The enlargement 423 can be linear or non-linear and can be continuous, discontinuous, or a combination thereof.

[0247] Different embodiments of the enlarged lateral dimension 423 and the other lateral dimension 425 can lead to different advantages of the

[0248] SUBMISSION VERSION. DOCX gripping device 102. This allows for an attached, sharply angled shape, such as the mushroom head 421. a exhibits, e.g., good engagement of the gripping elements 107i a and 1072a lead, while a beveled shape, such as the mushroom head 421 b exhibits an unwanted entanglement of the mushroom head 421 b can prevent this when loosening the package.

[0249] The Mushroom Head 421 a and mushroom head 421 b With its enlarged lateral dimension 423, the gripping device can effectively grasp topologically shaped components. Alternatively or additionally, the enlarged lateral dimension 423 can be used to intentionally hook the gripping device 102. aThe tool can be used on the individual item, for example, on a handle of the item. This can in turn lead to good contact with the item and can therefore be used to safely remove the item from a packing pattern.

[0250] Likewise, discrete-continuous or any other shapes with enlarged lateral dimensions 423 are possible. Any mixture of shapes, where all gripping elements have the same shape, the gripping elements have the same shape in groups, or each gripping element has a different shape, is also possible. Likewise, the gripping device 102 a a mixture of gripping elements with an enlarged lateral dimension 423 and no enlarged lateral dimension.

[0251] Fig. 4c shows the gripping device 102 afrom the side view, whereby the first spacing movement 422i and / or the second spacing movement 4222 were performed, such that the support structures 420i and 4202 are moved towards each other. The distance between the first subset of the gripping elements 107i a and the second subset of gripping elements 107 2a has changed compared to Fig. 4b, in particular decreased, whereby an at least locally complementary implementation is easily possible. This change in the distance between the first subset of the gripping elements 107i a and the second subset of gripping elements 1072a may make it possible to grip a piece item after, during or before a movement of the gripping device 102 a regarding the general cargo for changing the orientation and / or removing it from the packing pattern.

[0252] Figs. 5a-c show a lateral schematic exemplary representation of the temporal sequence during contacting a gripping device 102 b according to one embodiment of the invention with a piece item, or alternatively with any topological shape of the piece item, for example referred to as handle 212.

[0253] Fig. 5a shows a schematic side view illustrating the gripping device 102. b , which can comprise a first support structure 420i and / or a second support structure 4202. The first support structure 420i and the second support structure 4202 can be defined by the

[0254] SUBMISSION VERSION. The DOCX side view is shown as only one element; however, it should be noted that this may involve different elements that can be arranged movably relative to each other, for example interdigitally as in the gripping device 102. aIn Fig. 4a. A first set of gripping elements 107i can be mounted on the first support structure 420i. a be attached and a second set of gripping elements 107 can be attached to the second support structure 4202 2a be attached. On a contact side of the gripping elements 107i a and 107 2a A handle 212 of the unit load is shown. However, this can also be understood as any topological shape of the unit load. According to one embodiment of the invention, the gripping elements 107i can a and 107 2a be flexibly mounted and can adapt to a topology of the piece goods or of the handle 212.

[0255] Fig. 5b shows how the gripping device 102b can adapt to the topology of the unit load 590. By moving the gripping device, e.g., by axial movement 1052, the gripping device 102b was moved towards the unit load, and the individual gripping elements 107i a and 107 2aWhere they touch the workpiece / handle 212, they yield in such a way that a positive fit with the workpiece / handle 212 can be achieved. This allows the gripping device 102 to b Adapt to the topology of the unit load / handle 212.

[0256] Fig. 5c shows how the gripping elements 107i a and 107 2a the gripping device 102b can be in relation to the unit load / grip 212, after the first support structure 420i and / or the second support structure 4202 and thus the first subset of the gripping elements 107i a or the second subset of gripping elements 107 2a their distance from each other has changed. The first subset of the gripping elements 107i a has can move the first support structure 420i by means of a first distance movement 422i and the second subset of gripping elements 107 2aThe second support structure 4202 can be moved in a second direction, for example opposite to the first distance movement 420i, by means of a second distance movement 4222. The first distance movement 420i can establish initial contact on a side surface 526i of a gripping element 107i. a “ the first subset of gripping elements 107i a with the item / handle 212 at a first end of the item / handle 212 and by the second spacing movement 4222 a second contact can be made on a side surface 5262 of a gripping element 107 2a “ the second subset of gripping elements 107 2a with the general cargo / handle 212 at a second end of the general cargo / handle 212.

[0257] A force-fit connection to the workpiece / handle 212 can be established through the first contact on a side surface 526i and / or the second contact on a side surface 5262. This can lead to the gripping device 102 bthe general cargo / handle 212 fit well into a modified state

[0258] SUBMISSION VERSION. DOCX an orientation, e.g. the changed orientation 104, can move and also that the package can subsequently be safely removed from a packing pattern. Alternatively or additionally, the enlarged dimensions 423 can prevent or at least hinder the package from slipping out, e.g. against a direction of movement 1052, based on the distance movements 422i and 4222 that have taken place.

[0259] A change in the spacing of the first subset of gripping elements 107i a and the second set of gripping elements 107 2aThis is possible both before, during, and after the movement of the gripping device. The gripping device 102b can be a gripping device according to embodiments of the invention, a part of a gripping device according to embodiments of the invention, or a gripping tool according to embodiments of the invention.

[0260] Figs. 5d-f show the gripping device 102 c , which can have the same features as the gripping device 102b, but without an increased lateral dimension 423 of the gripping elements 107i b and 1072b. The gripping device 102 c can also be used without the enlarged lateral dimension 423 of the gripping elements 107i b and 107 2b to create a positive fit with the workpiece / handle 212, e.g. by a movement 1052 of the gripping device 102 c and the flexible mounting of the gripping elements 107i b and 107 2bThrough the first spacing movement 422i and the second spacing movement 4222, a force-fit connection with the workpiece / handle 212 can subsequently be established, for example. The gripping elements 107i b and 107 2b They may also have a surface or material which causes a change in the position of the item in relation to the gripping device 102 c Establishing contact becomes more difficult. For example, good contact can also be established without the enlarged lateral dimension 423.

[0261] In other words, Figures 5a-c can be additionally, supplementarily, or alternatively described as follows:

[0262] Fig. 5a: Plate 1 (first support structure 420i) and plate 2 (second support structure 4202) are brought close to a piece of luggage / package / general cargo (handle 212).

[0263] Fig. 5b: Upon contact with the luggage, the pins / mushroom heads / active elements (gripping elements 107i) aand 107 2a ) inserted into plate 1 (first support structure 420i) and plate 2 (second support structure 4202).

[0264] SUBMISSION VERSION. DOCX anFig. 5c: Plate 1 (first support structure 420i) and plate 2 (second support structure 4202) are brought into contact with each other. The pins / mushroom heads / active elements (gripping elements 107ia and 102a) create a positive locking connection with the clamped part of a piece of luggage / package / general cargo (general cargo / handle 212).

[0265] Fig. 6 shows a side view schematic example of a gripping device 102 d with asymmetrical mushroom caps 421 C The gripping device 102 dIt can comprise a first support structure 420i and a second support structure 4202. The first support structure 420i and the second support structure 4202 can only be represented as a single element in the side view; however, they can be different elements that can be arranged movably relative to each other, for example, interdigitally as in the gripping device 102. a In Fig. 4. A first set of gripping elements 107i can be mounted on the first support structure 420i. c a second set of gripping elements 1072c can be attached to the second support structure 4202 and / or a second set of gripping elements 1072c can be attached to the second support structure 4202. On a contacting side of the gripping elements 107i c and 1072c represents a piece of equipment, which in the illustration can also be understood as a handle 212 of a piece of equipment or any topological shape of the piece of equipment. According to one embodiment of the invention, the gripping elements 107i cand 1072c an asymmetric enlarged lateral dimension 423 a at the end facing the workpiece / handle 212. The asymmetry refers to a projection into a plane perpendicular to the axial extension direction 643 of the gripping elements 107i. c and 1072c. Thus, the magnification can, for example, be arranged only in one side or half of the projection, or be more pronounced in the first half than in the second half. Such a configuration can also be described as a half mushroom head or asymmetric mushroom head, with the half implementation being optional. The asymmetric magnified lateral dimension 423 a can ensure that if the gripping device 102 is released d The gripping elements 107i are attached to the general cargo / handle 212. c and 1072c do not snag on the item / handle 212. By means of the asymmetrically enlarged lateral dimension 423 a only on one side of the gripping elements 107ic and 1072c are enlarged, it is possible to take advantage of the benefits of an enlarged lateral dimension while preventing the disadvantages of this by minimizing the possibilities of unintentional entanglement with the item / handle 212.

[0266] In other words, Fig. 6 can be additionally, supplementarily or alternatively described as follows: Pins, mushroom heads or working elements (gripping elements 107i) c and 1072c) in a further form with the motif to prevent bag straps etc. from snagging during the handling process.

[0267] SUBMISSION VERSION. DOCX anFig. 7a-c show a lateral schematic exemplary representation of the temporal sequence during contacting a gripping device 102 e according to an embodiment of the invention with a piece item / handle 212.

[0268] Fig. 7a shows the schematic side view of the gripping device 102 e, which can include a support structure 727 on which a quantity of gripping elements 107 a It may be attached to a contacting side 744 of the gripping elements 107. a At least one element of a piece of general cargo 212 is shown, e.g., but not limited to, any topological shape of the piece of general cargo, e.g., a handle of a piece of general cargo. According to one embodiment of the invention, the gripping elements 107 a The gripping elements can be formed in an elastic and / or compliant manner and can adapt to the topology of the workpiece 212. As in other embodiments, the gripping elements can be rigidly formed and essentially inelastic along the perpendicular to the respective extension direction 643, while as bodies they are also rigid along the axial extension direction 643 but can be movable due to the compliant mounting or other properties.

[0269] Fig. 7b shows how the gripping device 102 is arranged. e can adapt to the topology of the unit load 212. By means of a first axial movement 1052 of the gripping device 102 e Can the gripping device 102 e to be moved towards the general cargo 212, and the individual gripping elements 107 a where they touch the general cargo 212, they can yield in such a way that a positive fit with the general cargo 212 can be achieved.

[0270] Fig. 7c shows the gripping device 102 e in a state after performing a second axial movement 1053 of the gripping device 102 e . By the second axial movement 1033 of the gripping device 102 e Contact can be established between a side surface 526 of a gripping element 107a and the workpiece 212. The second axial movement 105 e This can, for example, involve lifting the gripping device 102 eThe contact on the side surface 526 allows the item to be safely gripped by the gripping device 102. e can be moved. For example, it is possible to change the orientation of the package 212 to a different orientation 104, or to remove it from the packing pattern without using the holding element 101.

[0271] Compared to the description in connection with Figs. 5a-c, the gripping device 102 e without a group-wise relative movement, or a distance movement 422i or 4222, of the gripping elements being realized or at least operated. The enlarged lateral dimension 423 a the gripping elements 107 a Based on the axial movement 1052, this enables an outward movement of the element 212.

[0272] SUBMISSION VERSION. DOCX can be prevented when executing movement 1053. This can be achieved by positioning element 212 behind mushroom head 421. a, or the lateral magnifications 423 a to be achieved

[0273] The construction of the gripping device 102 e with the gripping elements 107 a can enable contact on a side surface 526 of the gripping elements 107 a and to produce with the unit load 212, provided that the gripping device 102 e is designed to be large enough to accommodate element 212.

[0274] In other words, Figs. 7a-c can be additionally, supplementarily or alternatively described as follows: a plate 1 (support structure 727) and a plate 2 (support structure 727, or an optional second support structure 4202 as in Figs. 6a-c) in which the gripping elements 107 a They must not be obstructed or moved relative to each other. Only the interlocking of the pins / mushroom heads / action elements (gripping elements 107) is effective. a) positive locking to create a connection with the piece of luggage / package / general cargo 212. Thus, the piece of luggage (general cargo 212) can only be attached using the elements (gripping elements 107). a ) can be moved. In other words, this can also be described as hooking in and pulling out without a divided perforated plate.

[0275] Figs. 8a-c show a lateral schematic exemplary representation of a possible temporal sequence when contacting a piece of goods 212 using a gripping device 102. f according to an exemplary embodiment, which eccentrically mounted gripping elements 107 d may include.

[0276] Fig. 8a shows a schematic side view of the gripping device 102f, which can comprise a one-piece or multi-piece support structure 727 on which the eccentrically mounted gripping elements 102f can be attached. A contacting side 744 of the eccentrically mounted gripping elements 107 d A piece of general cargo 212 is shown, which in the illustration can also be understood as a handle of a piece of general cargo or any topological shape of the piece of general cargo. According to one embodiment of the invention, the eccentrically mounted gripping elements 107 d They are formed and designed to be elastically and / or flexibly mounted in order to adapt their position to a topology of the unit load 212.

[0277] Fig. 8b shows how the gripping device 102 is arranged. fcan adapt to the topology of the unit load 212. By a movement 1052 of the gripping device 102f, the gripping device 102f can be moved towards the unit load 212, and the individual eccentrically mounted gripping elements

[0278] SUBMISSION VERSION. DOCX an107 d Where these elements touch the unit load 212, they can yield in such a way that a positive fit with the unit load 212 can be achieved. It should be noted that all or only a subset of the gripping elements 107 d for a rotational movement and can be mounted eccentrically in order to obtain the advantages of this design.

[0279] Fig. 8c shows the position of the eccentrically mounted gripping elements 107d after the gripping elements 107 da rotational movement 828 has been performed which, due to the eccentric arrangement, can cause a change in the distance between at least some of the gripping elements. The eccentric rotational movement 828 can be performed about the eccentric axis of rotation of the individual gripping elements 828, with each gripping element 107 d a gripping element 107 may have its own eccentric axis of rotation and / or several gripping elements 107 may share a single axis of rotation. The axes of rotation may be oriented around the extension direction 643 of the gripping elements 107. d extend. Due to the eccentric rotation 828, for example, contact between the gripping element and the workpiece 212 can be lost, but also lateral contact on a side surface 526i and 5262 between the gripping elements 107. d and the general cargo 212. It is possible that a gripping element 107 dPrior to the eccentric rotation 828, there was no contact with the workpiece 212, and the eccentric rotation 828 establishes contact on a side surface, e.g., side surfaces 526i and 5262. The contact on a side surface 526i and 5262 can be used to safely move the workpiece 212, e.g., to move the workpiece by a movement of the gripping device 102. f to move into the changed orientation 104. Furthermore, it is also possible that the changed orientation is already caused by the extrinsic rotational movement of the gripping elements 107. d is reached and the general cargo 212 can then be removed from the packing pattern.

[0280] The rotational movement 828 can be used for all gripping elements 107 dThe operations can be performed synchronously as well as asynchronously, individually or in subsets. The eccentric rotation 828 ensures good contact between the gripping device and the workpiece, which can lead to safer handling of the workpiece 212 by the device / gripping device 102f.

[0281] In other words, Figures 8a-c can be additionally, supplementarily, or alternatively described as follows: Plate (support structure 727) and Plate 2 (support structure 727, or a second support structure 4202 as in Figures 6a-c) are not positioned relative to each other. The pins / mushroom heads / action elements (gripping elements 107) d ) are eccentrically mounted. By rotational movement (eccentric rotation 828) of the eccentric mounting, the

[0282] SUBMISSION VERSION. DOCX onPens / Mushroom Heads / Active Elements (Grip Elements 107) d) delivered and can thus create a positive connection with the piece of luggage / package / general cargo 212. The piece of luggage (general cargo 212) can therefore only be handled by the elements (gripping elements 107). d ) be moved

[0283] Fig. 9a and Fig. 9b show schematic exemplary side views of a possible process for removing a piece of goods 103 from a packing pattern 319 of a device 900, which may include a counterholding element 929.

[0284] Fig. 9a shows the device 900, which has already moved a unit load 103 into a changed orientation. The unit load 103 is located in a packing pattern 319 in a loading space 316. The packing pattern 319 can include another unit load 315 on which the unit load 103 rests. The device 900 can include a counter-holding element 929, which is designed to contact the other unit load 315. For example, the counter-holding element 929 can be used synergistically for transporting the unit load 103, such as a conveyor belt or chute. In this case, positioning it at a possibly upper end of the other unit load 103 can be advantageous.

[0285] Fig. 9b shows how the device 900 releases the unit item 103 from the packing pattern 319 along a release direction 106. The position of the counter-holding element 929 can ensure that the other unit item 315 does not also release from the packing pattern 319. In Figs. 9a and 9b, the counter-holding element 929 can, for example, be a conveyor belt, which may be part of a system according to an embodiment of this invention. Alternatively or additionally, it is possible that the counter-holding element 929 is mechanically connected to the device 900, or that the device 900 and the counter-force element 929 are mounted on the same or different support systems.

[0286] If the device 900 is part of a system according to an embodiment of the invention, the counterholding element can also correspond to a transport device.

[0287] The device 900 can have an optional additional or second gripping device 1339, designed to generate a force-fit connection with the unit load 103 based on suction. This suction can be used alternatively or additionally to the gripping device 102 for transporting and / or lifting the unit load 103.

[0288] In a preferred embodiment of the device 900, the second gripping device 1339 is floatingly mounted, e.g. such that the second gripping device 1339 at least

[0289] SUBMISSION VERSION. DOCX along direction 109 zThe floating mounting is flexibly supported, but can absorb forces in the opposite direction to carry or lift the unit load 103. This floating mounting prevents damage, for example, from unit loads 103 of different sizes, larger of which could potentially make mechanical contact with the second gripping device 1339 when lifted by the gripping device 102. A floating mounting along further directions 109 x and / or 109 y can be provided as an alternative or additional option.

[0290] In other words, Figures 9a and 9b can be additionally, supplementarily, or alternatively described as follows: A deliverable / positionable conveyor system (counter-holding element 929) for conveying the separated unit loads / packages / luggage (unit load 103). Parallel to conveying the separated unit loads / packages / luggage (unit load 103), the conveyor system serves as a support / position holder for the unit loads / packages / luggage (other unit load 315) that are placed below the unit load / package / luggage (unit load 103) to be separated. The packing pattern assembly (package pattern 319) thus remains stable during the separation of a unit load / package / luggage (unit load 103) and does not collapse in the removal / separation direction (release direction 106) of the unit load / package / luggage (unit load 103). In other words, individual components can also be described additionally, supplementarily, or as replacements as follows:

[0291] 929: Deliverable / positionable conveyor technology for conveying the individualized goods / packages and counter-holder for goods / packages / luggage under the goods / packages / luggage to be separated

[0292] 315: General cargo / package / luggage item positioned below the general cargo / package / luggage item

[0293] 103: General cargo / package / luggage item that is separated from a bundle

[0294] Figs. 10a-d show schematic exemplary top views of the temporal sequence of a system 1000 during the loading of a cargo space 316 a with general cargo 103i a , 1032 a and 103 3a .

[0295] Fig. 10a shows a schematic exemplary top view of the system 1000 inside a cargo space 316 a , in order to load it with general cargo. The cargo space 316 a This includes a packing pattern 319 ainto which the individual items are to be inserted. The System 1000

[0296] SUBMISSION VERSION. DOCX can comprise one or more transport devices, such as conveyor belts, storage trays, or chutes. A first transport device 1030i and a second transport device 10302 are shown as examples. The first transport device 1030i and the second transport device 10302 can be arranged arbitrarily and, for example, perpendicular to each other. The unit loads 103i a , 103 2a and 1033a are located on the first transport device 1030i and can pass through the first transport device 1030i through the opening 314 a of the cargo space 316 a transported along a cargo space direction 1032i. Furthermore, an optional sorting volume 1031 is shown, which is designed to temporarily hold one or more general cargo items 103i. a , 103 2aand 1033a and deliver them with a possibly changed order, or change the order beyond the sorting volume 1031 compared to an order on this side of the sorting volume 1031. The sorting volume 1031 can provide one or more parking positions on which, according to one embodiment of the invention, one or more individual items 103i a , 103 2a and / or 1033a can be temporarily stored to change the order of the unit loads 103i a , 103 2a and 1033a to modify, in other words this can be described as sequencing.

[0297] System 1000 can be configured such that the transport devices 1030i and 10302 can pass jointly through opening 314 a of the cargo space 316 a sufficient and the general cargo 103i a , 103 2aand 1033a to move to a device according to an embodiment of the invention, the device being located at a first end 1045 of the second transport device 10302. Unlike the description above, some of the devices described herein can also be used to produce a packing pattern.

[0298] Fig. 10b, in combination with Fig. 10a, shows that the system 1000 can change the position of a unit load 103ia. This can be achieved, for example, by a movable guide element at the location of the unit load 103i. a can be achieved. The inclined position of the general cargo 103i a In Fig. 10a, a fall of the item 103i is possible. a from the first transport device 1030i. The system can thus be able to determine the position of the unit load 103i. a from Fig. 10a to the position of the package 103i a to change from Fig. 10b, which results in a straight alignment of the piece goods 103ia on the first transport device 1030i. This can lead to the safe transport of the general cargo 103i. a on the first transport device 1030i. In other words, the first transport device 10301 can also be described as a feeding device and the second transport device 10302 can also be described as a luggage positioner.

[0299] SUBMISSION VERSION. DOCX anFig. 10c shows the system 1000 with the unit load 103 2a in the sorting volume 1031. According to one embodiment of the invention, the sorting volume 1031 can also represent a possibility of the system to first sequence the unit loads 103i. a , 103 2a and / or 103 3a to record and output in a modified second order. Furthermore, possible processing directions 10322 and 10323 are shown, whereby these represent the two possibilities for the general cargo 103i. arepresent either being transported into the sorting volume 1031 into the processing directions 10322 or being transported further into the processing directions 10323 with the second transport device 10302.

[0300] The sorting volume 1031 can, for example, be a continuation of a conveyor belt of the first transport device 1030i, or also another additional conveyor belt.

[0301] Fig. 10d shows the state of system 1000 after the unit load 103i a the second transport device 10302 transported the goods to the front end 1045 in a packing pattern direction 1034 and the system then transported the general cargo 103 2a from the parking position and the general cargo 103 3a also transported in the packing pattern direction 1034 to the front end 1045. The system can determine the sequence of the individual items 103i. a , 103 2a and 103 3a so from the first order with general cargo 103 2a, general cargo 103i a , general cargo 103 3a on a changed order general cargo 103i a , general cargo 103 2a , general cargo 103 3a change.

[0302] In other words, Figures 10a and 10b can be additionally, supplementarily, or alternatively described as follows: The feeding (and discharging) conveying technology (transport devices 10311 and 10302) contains active elements (e.g., a guide element) that prevent the rotation of the unit loads / packages / luggage (in Figure 10a, for example, unit load 103i). a ) enable. Motif: Alignment of general cargo / packages / luggage (general cargo 103i) a , 103 2a and 103 3a ).

[0303] In other words, Figures 10a and 10b can be additionally, supplementarily, or alternatively described as follows: Sequence formation and parking position (sorting volume 1031, can also be in 3D, above / below conveyor technology 1030i, 10302). Figures 10a and 10b show the delivery of luggage (general cargo 103i). a , 103 2a and 103 3a ) in a row, Fig. 10c shows the buffering of luggage (general cargo 103i) a , 103 2a and 103 3a ) in parking position (sorting volume 1031) and Fig. 10d shows the sequence formation by buffering luggage pieces (general cargo 103) 2a ) and overtaking other pieces of luggage (general cargo 103i) a ).

[0304] Figs. 11a-h show schematic exemplary top views of a system 1100 with a first guide element 1135i and a second guide element 11352beim

[0305] SUBMISSION VERSION. DOCX to Loading or unloading a cargo space 316 b. Whereby the system 1100 can comprise a first and second transport device 1030i and 10302, on which unit loads 103i, 1032 and 1033 can be located.

[0306] Figures 11a-h show two guide elements 1135i 11352, and the system 1100 can also have these optional elements in a different number of at least 1, at least 3, at least 4 or more.

[0307] Fig. 11a shows the loading of cargo space 316 b , wherein the guide element 1135i and the guide element 11352 can be arranged laterally to the unit load 103i. In other words, the guide elements 1135i, 11352 can also be referred to as push elements / fine positioners or pie sliders. The optional guide elements 1135i, 11352 can be configured to position the unit load 103i relative to a position in the packing pattern 319 bto modify. For example, a position perpendicular to the transport direction 1032 and / or an orientation can be changed. It is also optionally possible to mount at least one of the guide elements 1135i and / or 11352 rotatably in order to create a funnel shape, at least temporarily, along at least one spatial direction, which can provide additional support for alignment. In the case of loading, it can be ensured that the unit load 103i can be optimally picked up by the device and subsequently placed into the packing pattern 319. b can be inserted.

[0308] Figures 11b and 11c show how the guide element 1135i and the guide element 11352 can change the position of the unit load 103i on the second transport device 10302 by pushing / pushing it. This is shown in two directions: a first adjustment direction 1136i in Figure 11 and a second adjustment direction 11362 in Figure 11c. The adjustment directions 1136i and 11362 can be provided individually or together by the system 1100.

[0309] Figs. 11d-f show views of the system 1100, which additionally has an optional feed element 1137, which is attached to a packing pattern 319 b the opposite side of the package 103i is positioned. Figs. 11d-f show the sequence of steps for inserting the package 103i into the packing pattern 319. b, wherein, for example, the feed element 1137 can assist the device at the first end 1045 of the second transport device 10302 during the insertion of the unit load 103i into the transport direction 1034 by exerting a pressure force on the unit load 103i. The guide element 1135i and the guide element 11352 can assist during the insertion of the unit load 103i into the

[0310] SUBMISSION VERSION. DOCX anPackmuster 319 b laterally stabilizing and / or guiding, also by providing a funnel shape.

[0311] Fig. 11g shows the system 1100 creating the packing pattern 319 b, wherein the guide element 1135i and the guide element 11352 can be arranged independently of each other along the transport direction 1034 and can be moved by individual actuators, which does not, however, preclude joint or coupled movement, or they can move independently of each other. A movement of the guide elements 1135i and / or 11352 can be individually controllable and, for example, based on or depending on the specific conditions of the cargo space 316. b and / or the packing pattern 319 b can be selected. This also allows the alignment, position, or orientation of the unit load 103i to be changed so that it fits well into the packing pattern 319. bcan be inserted. For example, large and / or heavy items can be arranged at the bottom and lighter or smaller items comparatively at the top, whereby any other sorting arrangements are readily possible and may benefit from the sorting volume 1031 discussed in connection with Fig. 10a-d.

[0312] Fig. 11h shows the system 1100 during the extraction of the unit load 103i along an extraction direction 106. The unit load 103i can be located in an outermost position of the packing pattern 319. bThe optional guide elements 1135i and 11352 can assist in placing the unit load 103i onto the transport device 10302. This can be achieved, for example, by temporarily rotating the guide elements 1030i and / or 10302 along the release direction 106, whereby during the rotation, the end of the guide element 1035i facing / closer to the transport device 10302 is moved towards the guide element 10352, or vice versa. This can create a funnel shape with the guide element 1135i and the guide element 11352, which directs the unit loads onto the transport device 10302. If only one guide element 11352 is present, it is also possible to achieve the effect of support by the same rotation of the guide element 11352, since the guide element 11352 can form a slide for the unit load 103i onto the transport device 10302 by its rotation.This can be particularly advantageous in the outermost position of the unit load shown, as the transport device 10302 may not be able to be positioned directly below the unit load 103i. A funnel shape for the guide elements 1135i and / or 11352 would then mean that the unit load 103i could not be released by the device perfectly centered above the transport device 10302, yet the unit load would still be reliably positioned on the transport device 10302. Loading, like unloading, can largely be performed in a reversible manner.

[0313] SUBMISSION VERSION. DOCX. In other words, Figures 11a-h can be additionally, supplementarily, or alternatively described as follows:

[0314] Fig. 11a: Luggage item 1 (general cargo 103i) is conveyed between push elements / fine positioners (guide element 1135i and guide element 11352) (before being placed in the packing pattern 319) b )

[0315] Fig. 11b: Push elements / fine positioners (guide element 1135i and guide element 11352) position luggage items (general cargo 103i) between themselves by delivery before insertion into the packing pattern 319 b .

[0316] Fig. 11c: Push elements / fine positioners (guide element 1135i and guide element 11352) position (fine position) luggage (general cargo 103i) when being inserted into the packing pattern 319 b .

[0317] Fig. 11d-f: Pushing element (feeding element 1137) pushes the piece of luggage / package (general cargo 103i) to the packing pattern 319 b . Motif: Intensification of the packing pattern 319 b / Prevent / minimize gaps, insert package 1032a, gap reduction / can also be done using 1137.

[0318] Fig. 11g: Push elements / fine positioners (feed element 1137, guide element 1135i and 11352) can be positioned independently of each other. Fig. 11g shows fine positioners and aligners for luggage.

[0319] Fig. 11h: Push elements / fine positioners (feed element 1137, guide element 1135i and 11352) position themselves so that pieces of luggage (general cargo 103i) are directed onto the outgoing conveyor technology (second transport device 10302) during singulation.

[0320] Fig. 12 shows a schematic side view of a cargo space 316 containing a packing pattern 319 in which one unit of cargo 103 rests on another unit of cargo 315. The unit of cargo 103 can be moved by a pressure force in one insertion direction 318 from an optional feed element 1137. b The feed element 1137 is pressed in the direction of the packing pattern 319. The insertion direction can, for example, be opposite to the removal or release direction 106.b It can, for example, be attached to one end of a transport device of system 1000 or system 1100, or be the second transport device 10302 of system 1000 or 1100. The pressure force in the insertion direction 1255 ensures that the packing pattern 319 is in a compact form and that the available space of the loading area 316 can be used efficiently.

[0321] Figs. 13a-c show representations of a device 1350 according to an embodiment and of a system 1300 within a cargo space 316 c The cargo space 316 c This could be, for example, the cargo hold of an aircraft, such as that of an Airbus A320.

[0322] SUBMISSION VERSION. DOCX to cargo space 316 C can also be referred to as the cargo space. The illustrated embodiment of the invention can be fully or partially accessed through the opening (e.g., a loading hatch) of the cargo space 316. C be moved and in the cargo space 316C for unloading or loading. Fig. 13c also shows an optional transport device 1030a of the system 1300, which can be folded down and attached to the system 1300 so that the system 1300 fits through the loading hatch. The transport device 1030 a can be designed according to one embodiment of the invention to exert a counterforce on the packing pattern 319 C to be used when removing a piece of goods. The device 1350 has a gripping device 102. g on, which is connected to an optional transport structure 108 a The gripper head can, for example, be attached to a transport structure 108. a according to an embodiment of this invention, and be telescopic / telescopically designed to fit through the loading hatch and to move the gripping device and the holding element into a corresponding position.

[0323] Figures 14a-g show an exemplary system 1400 with a device 1450 and / or partial sections thereof. The device 1450 can be a transport structure 108. b include, to which an impact shield 1338 can be attached. The optional transport structure 108 b It can also be designated / designed as a telescopic reacher, and the impact shield 1338 can likewise be designated as an impact plate. The impact shield 1338 can protect the retaining elements during movement of the device 1450 or the system 1400 and can thus, for example, allow movement of the retaining elements from the first position to the second position. On the transport structure 108 b , or the device 1450, can also include a gripping device 102 h and / or a second gripping device 1339 may be attached. The gripping device 102 hIt can also be referred to as an adaptive gripper. The second gripping device 1339 is, for example, designed here as a suction device according to one embodiment of the invention.

[0324] System 1400 shows an optional transport device 1030 b to move a general cargo item to or from a packing sample. The transport device 1030 b In system 1400, the position of the transport device 1030 can be such that b can be changed relative to system 1400. This allows, for example, the transport device 1030 to be modified. b It can be geared towards a single item, thus avoiding the need to move the significantly larger 1400 system. The 1030 transport device b It can also be referred to as a support conveyor. Furthermore, the system 1400 or the device 1450 can be a guide element 1135. ainclude which is a position of the unit load when removing or feeding it onto the transport device 1030 b can change. The guide element 1135 a It can also be called a side pusher or cake pusher.

[0325] SUBMISSION VERSION. DOCX anFig. 14b shows a side view of the system 1400, wherein the system 1400 is exemplarily divided into a critical key element with a high degree of innovation 1440, a second functional element 1441 and a third functional element 1443. The critical key element with a high degree of innovation 1440 can be a device according to an embodiment of the invention.

[0326] Figures 14c and 14d each show an exemplary partial view of the first end 111 of the transport structure 108b from two opposite sides. It is also part of a packing pattern 319 CFig. 14c shows above which the first end 111 of the transport structure 108b is located. Fig. 14c also shows a plurality of retaining elements 101. a in their second relative position, which according to one embodiment of the invention is achieved by rotating the retaining elements 101 a This can be achieved by pivoting in or extending, i.e., an extension movement. Fig. 14d shows how the minimum vertical dimension of the first end 111 of the transport structure 108b, and thus the impact shield 1338 and the retaining elements 101, is formed. a in their first relative position over the packing pattern 319 C can be moved. The retaining elements 101 a According to one embodiment of the invention, the retaining elements can have an anti-slip coating on a surface (e.g., the luggage / parcel side). a They can also be described as grasping claws.

[0327] Figs. 14e and 14f show the system 1400 during the removal of a piece item 103. c from a packing sample 319 C Fig. 14e shows the system 1400 in which the transport device 1030b and the device 1450 are directed straight onto the unit load 103 c are aligned to facilitate the removal of the general cargo 103 c to be achieved along an axial direction according to one embodiment of the invention.

[0328] Fig. 14f shows the system 1400 after the device 1450 has loaded the unit load 103 c has been placed on transport device 1030b.

[0329] In other words, Figures 14e and 14f can be additionally, supplementarily, or alternatively described as follows: One feature of the invention may be, for example, the positioning of the support conveyor (e.g., transport device 1450) by means of a linear axis and swivel drive. Another feature of the transport device 1030b may be, for example, conveyor belts for propelling the luggage (unit goods).

[0330] Fig. 14g shows an exemplary side detail view of the gripping device 102 h when gripping the general cargo 103 c The gripping device 102h can be configured as a swiveling plate 727

[0331] SUBMISSION VERSION. DOCX must be trained on which several gripping elements 107 e They may be attached. The contact of the gripping device 102 h to the general cargo 103 c This can be achieved, for example, by a rotational / swivel movement 105i of the plate 727. By lifting the item 103 cCan an orientation of the general cargo 103 c can be changed. This can be achieved, for example, by continuing the rotational movement 105i, or, for example, by changing the gripping device 102. h performs an axial movement 1053. The gripping elements 107 e can be used as spring-loaded pens with a mushroom head 421 d be executed, with the mushroom head 421 d may be coated with a material, which may prevent the goods from slipping. 103 c can prevent this.

[0332] In other words, Figures 14a-f can be additionally, supplementarily, or alternatively described as follows: The complete system (e.g., system 1400) consists, for example, of the following individual components and working elements: Telescopic grabber (e.g., transport structure 108b), gripping claws / impact shield (e.g., holding elements 101) a / Impact shield 1338), adaptive gripper (e.g. gripping device 102h), area gripper (e.g. second gripping device 1339), support conveyor (e.g. transport device 1030) a ) and side pushers (e.g. guide element 1135) a ).

[0333] In other words, the features of the system 1400 or the device 1450 can be described additionally, supplementarily or alternatively as follows:

[0334] ■ The telescopic reacher (e.g., transport structure 108) b ) is about the baggage item to be separated, synonymously separating (e.g., general cargo 103) c ) extended.

[0335] ■ The overlapper (e.g., transport structure 108) b ) positions one, several or all gripping claws (e.g. holding elements 101) a ) and the adaptive gripper (e.g. gripping device 102h) before accessing a piece of luggage (e.g. general cargo 103) c ).

[0336] ■ The overlapper (e.g., transport structure 108)b ) can exhibit the following properties and characteristics:

[0337] ■ Telescopic (using an electric cylinder)

[0338] ■ Compact design to fit into the gap between the upper luggage layer and the ceiling of the cargo hold

[0339] ■ The gripping claws (e.g. holding elements 101) a ) can in some configurations be a primary component in the process of separating individual pieces of luggage from the group (e.g., packing pattern 319) C ) be.

[0340] ■ The gripping claws (e.g. holding elements 101) a ) are transported using a telescopic reacher (e.g., transport structure 108) b ) behind the piece of luggage to be grabbed (e.g. general cargo 103) c ) positioned.

[0341] SUBMISSION VERSION. DOCX on■ The gripping claws (e.g., holding elements 101) a ) can exhibit the following properties and characteristics:

[0342] ■ Swivels in to save space between pieces of luggage (e.g. components of the packing pattern other general cargo 315) C ) to be able to be positioned

[0343] ■ Anti-slip coating to increase adhesion, friction or grip on the luggage ■ The impact shield (e.g. impact shield 1338) protects the gripping claws (in the swung-in position) (e.g. retaining elements 101) a (in first relative position) when creating the access gap between pieces of luggage

[0344] The pneumatic area gripper (e.g. second gripping device 1339) can be part of the telescopic overgripper (e.g. transport structure 108b) and supports the singulation process of the luggage items during access.

[0345] by gripping claws (e.g. holding elements 101) a ) and adaptive gripper (e.g. gripping device 102h) ■ The support gripper (e.g. second gripping device 1339) can have the following properties and features:

[0346] ■ Compact design to fit into the telescopic grabber (e.g. transport structure 108) b ) to be able to be integrated

[0347] ■ Effective when used on hard shell cases (good suction effect / but not in the heavy weight range)

[0348] ■ Not effective on textile surfaces of travel bags, soft shell suitcases, etc.)

[0349] The support conveyor (e.g., transport device 1030) b ) removes the individual pieces of luggage from the reach of the telescopic grabber (e.g., transport structure 108). b , or the gripping range of the device 1450).

[0350] ■ As a further task, the support conveyor (e.g., transport device 1030b) positions the piece of luggage during the loading process. In this process, the support conveyor (e.g., transport device 1030b) is pushed by the side pusher (e.g., guide element 1135). a) which corrects the alignment of luggage on the support conveyor (e.g. transport device 1030b) by lateral pressure

[0351] ■ The support conveyor (e.g. transport device 1030b) and the side pusher (e.g. guide element 1135) a ) can exhibit the following properties and characteristics:

[0352] ■ Compact design of the conveyor technology

[0353] ■ Pneumatic drive in the side pusher to utilize the damping properties of the compressible air reservoir in the pneumatic cylinder of the side pusher (protecting the luggage)

[0354] SUBMISSION VERSION. DOCX on the adaptive gripper (e.g. gripping device 102) h ) is used, for example, when the gripping claws (e.g., holding elements 1101) a ) behind a piece of luggage (e.g. general cargo 103) c ) were positioned.

[0355] ■ The adaptive gripper (e.g. gripping device 102) h) creates a form and frictional connection with the gripped piece of luggage (e.g. general cargo 103) c ) and lifts it slightly to separate the grasped piece of luggage (e.g. general cargo 103). c to support.

[0356] ■ The adaptive gripper (e.g. gripping device 102h) can have the following properties and features:

[0357] ■ Retractable pins (e.g. gripping elements 107) e ) with anti-slip coating

[0358] ■ Spring-loaded return force on each retractable pin

[0359] ■ Adjustable / swiveling gripper plate (e.g. plate 727)

[0360] The individual features represent aspects that are independent of each other but can be easily combined and can be considered separately.

[0361] Fig. 15a shows a gripping element 107 f from a frontal view. The gripping element 107f can achieve a semi-circular asymmetric lateral magnification 423a and a pen-shaped pen element 424 a include the lateral magnifications 423 a They can, for example, reduce the risk of bag straps or other items getting caught. The semi-circular asymmetric magnification 1502 can, for example, be used as a semi-circular or semi-mushroom head 421. e be executed. The asymmetric lateral magnification 423 a This can, for example, lead to a situation where, when establishing contact with a piece of goods by a device according to an embodiment of the invention, a gripping action with the mushroom head 424 occurs. e can be achieved, while on the opposite side of the mushroom head 424 e Unintentional entanglement can be avoided. With reference to Figures 6 and 8a-c, it should be noted that a rotary movement of the gripping element about a main axis in a gripping device can be provided to alternately enable or disable engagement, depending on the controlled operating state.

[0362] Fig. 15b shows a gripping element 107 g from a frontal view. The gripping element 1511 can be a pen-like element or pen element 424. a , a mushroom head 421 f with a first semi-circular asymmetric magnification 423 a and / or a mushroom cap 421 g including a second semi-circular magnification 423b. The radius of the first semi-circular magnification 423 a and / or the second semi-circular magnification 423 b The orientation can be arbitrary. Compared to Fig. 15a, for example, a smaller or larger area can be provided for interlocking, with one side being, for example, at the bottom and the other at the top, or one on the left and one on the right, and other orientations in space being arbitrary.

[0363] SUBMISSION VERSION. DOCX are adjustable. In combination with an optional rotation, the behavior of the gripping element in the gripping device can be adjusted.

[0364] Fig. 15c shows a gripping element 107 h from a frontal view. The gripping element 107h can grasp a quarter of a mushroom head 421. h with an asymmetric magnification 423 c at a first end of a pen-like pen element 424 a include. The asymmetric magnification 423 c is formed as a quarter circle and, for example, instead of the 180° opening of Fig. 15a, comprises only 90°, with other angles 1556 a Equally possible are, for example, a minimum value of at least 20°, at least 25°, or at least 30° and / or a maximum value of 360°, 270°, 180°, 90°, or less, such as 45°. This embodiment can offer further advantages when establishing contact with a piece of goods; for example, the risk of entanglement can be reduced, since entanglement of the gripping element 107h with a piece of goods is prevented on 3 of 4 sides.

[0365] Fig. 15d shows a gripping element 107j from a frontal view. The gripping element 107j can grasp a first mushroom head 421j with a first asymmetric magnification 423d and a second mushroom head 421j with a second asymmetric magnification 423. e include, with the first asymmetric magnification being 423 d and the second asymmetric magnification 423 e and a first end of a pen-like pen element 424 a They can be attached on opposite sides. For the purposes of this description, this exemplary embodiment of the gripping element 107j is also considered asymmetrical. If the gripping element 1534 does not exhibit symmetry on at least two orthogonal axes, it is considered asymmetrical.

[0366] The schematic representations in Figs. 15a-d show gripping elements 107f_j in a frontal view. The pin element 424 can be designed as a spring-loaded pin, which can alternatively or additionally be mounted eccentrically. The gripping elements 1503, 1513, 1523, 1533 can be used independently of this in any variable or constant rotational position of the pin element 424 about an axial central axis.

[0367] The gripping elements 107f_j are exemplary embodiments of asymmetrical gripping elements or gripping elements with asymmetrical magnification, as described, for example, in connection with Fig. 6. The gripping elements 107 can readily be used in gripping devices described herein and, for example, as a component of a device and / or tool described herein.

[0368] SUBMISSION VERSION. DOCX. The preceding explanations regarding advantageous gripping devices on equipment for loading and / or unloading unit loads can easily be transferred to other areas of technology within the scope of exemplary embodiments, such as the area of ​​transport vehicles, in particular autonomously driving transport vehicles, as used, for example, in the logistics sector, for instance, to sort and / or transport unit loads in a warehouse. Exemplary embodiments provide for such vehicles or robots with a gripping device described herein, wherein the gripping device is permanently or repeatedly coupled to the vehicle via a mechanical interface. If required, the interface can, in addition to a mechanical coupling, also allow at least one electrical, one pneumatic, and one hydraulic coupling.Gripping tools with adjustable gripping elements, such as those described in connection with Fig. 4a-c, are particularly advantageous.

[0369] Fig. 16 shows a side schematic view of an exemplary gripping tool 1600 according to an embodiment. The gripping tool 1600 comprises a mechanical interface 1641, a first support structure 420i connected to a first subset of gripping elements 107i, and a second support structure 4202 connected to a second subset of gripping elements 1072. The gripping elements can extend along an axial direction 643, and the gripping tool 1600 is configured to change a distance 1649 between the first subset of gripping elements 107i and the second subset of gripping elements 1072, preferably perpendicular to the axial direction 643. The gripping elements 107i and 1072 can, for example, be mounted on the same plane, or the gripping elements 107i and 1072 can each be mounted on different planes. A plane can be, for example, B.This is implemented by a planar first support structure 420i and a planar second support structure 4202. One or more of the described features of gripping devices can also represent features of a gripping tool 1600. In other words, exemplary embodiments provide for the gripping devices described herein to be used as gripping tools for coupling with another device, such as a vehicle, by means of a mechanical interface.

[0370] Fig. 17 shows a schematic side view of an exemplary gripping tool 1700. The gripping tool 1700 comprises a mechanical interface 1641 and a plurality of gripping elements 107. The gripping tool 1700 can be movably arranged for a tilting movement or a rotational movement 105i with respect to the mechanical interface 1641. Alternatively or additionally, the gripping tool 1700 can be movably arranged to perform a first axial movement 1052 and / or a second axial movement.

[0371] SUBMISSION VERSION. DOCX to be carried out. The gripping tool 1700 can also include the features of the gripping tool from Fig. 16 and / or features of a gripping device 102. In other words, exemplary embodiments provide for gripping devices described herein to be provided as gripping tools for coupling with another device, such as a vehicle, by means of a mechanical interface.

[0372] According to one embodiment, the mechanical interface 1641 can be designed for repeated and reversible mechanical coupling. This can be implemented, for example, using a plug connection, a quick-change system, a joint, or a screw connection.

[0373] Figs. 18a-j show lateral schematic representations of various embodiments of retaining elements 101b-d. The retaining elements 101b-d can each be attached to a first end 111, or to a transport structure 108.

[0374] Figs. 18a-c show a curved version of a retaining element 101 b Fig. 18a shows how the curved retaining element 101 b In a first relative position, e.g., a packing pattern, the transport structure 108 can be guided past it in an insertion direction 318 by a movement of the transport structure 108. Fig. 18b and Fig. 18c show how the retaining element 101 b a holding element movement 1851 is performed to move from the first relative position to a second relative position (Fig. 18c). In the second relative position in Fig. 18c, the position of the holding element 101 can be bFor example, it corresponds to a rigid position to enable the removal of a piece of goods from a packaging pattern by a device according to one embodiment of the invention. The holding element 101b is in the first relative position within the transport structure and performs an extension movement 1851 as the holding element movement in order to extend out of the transport structure 108.

[0375] Figs. 18d-f show a rotatable embodiment of a retaining element 101 c Fig. 18d shows how the retaining element 101 c In a first relative position, e.g., by moving the transport structure 108 in an insertion direction 318 past a packing pattern, the material can be guided. Figs. 18e and 18f show how the retaining element 101 cA retaining element movement 1851 is performed as a rotational movement to move from the first relative position to a second relative position (Fig. 18f). In the second relative position in Fig. 18f, the position of the retaining element 101 can be c e.g., correspond to a rigid position. The axis of rotation is perpendicular to the insertion direction 318. The movement of the retaining element represents, for example, a

[0376] SUBMISSION VERSION. DOCX represents an unfolding movement. Also a rotation along an axis that runs parallel to the insertion direction 318, such as the retaining element 101. a as shown in Fig. 14c, is possible.

[0377] Figs. 18g-j show a split embodiment of a retaining element 101 d The retaining element consists of several retaining element components 1853, which are held, for example, by an optional guide rail 1852 within the transport structure 108. Fig. 18 g shows how the retaining element 101 din a first relative position, e.g., by a movement of the transport structure 108 in an insertion direction 318, it can be guided past a packing pattern, whereby the holding element 101 d which may be in a first, flexible state. Figs. 18h and 18i show how the retaining element 101 d During a retaining element movement 1851, the individual retaining element components 1853 are extended from the guide rail 1852, for example, perpendicular to the insertion direction 318. During extension, the retaining element can be in the first, flexible state, before assuming a second, rigid state in the second relative position. Fig. 18j shows the rigid position / second state of the retaining element 101. dThis is achieved, for example, by a contraction of the retaining element components 1853. This can be achieved, for example, by magnets or by an electrical voltage, which causes the retaining element components 1853 to assume a rigid position / second state. The rigid position or second state can also be achieved by a rope or thread that passes through all retaining element components (1853) and is firmly attached to the lowest retaining element component (1853i). By pulling the rope towards the transport structure 108, all retaining element components 1854 can then be fixed in the rigid position.

[0378] Figures 19a-c show a section of a gripping device 102; with a gripping element 107f which is mounted on a first plate 727i by means of a spring 1957 in a direction 643 and is held in the direction 643 by a second plate 7272 (perforated plate). The gripping element 107f is also equipped with a non-slip coating 1958.

[0379] Figures 19a and 19b show the gripping device in a first operating state of the gripping device 102; for engagement in a packing pattern along the extension direction of the gripping element. Figure 19a shows a possible maximum contact length 19611 of the gripping element 107. fand Fig. 19b can represent a possible minimum contact length 19612. The maximum contact length 1961i and minimum contact length 19612 can be achieved or set by the spring 1957. The minimum contact length 19612 can be achieved, for example, by a force component 1959 from a piece of material. By several

[0380] SUBMISSION VERSION. DOCX attack elements 107 fFor example, the gripping device 102 can be adapted to the topology of a piece of goods. Fig. 19c shows how a second operating state of the gripping device 102j, shown here, can be achieved by moving the first plate 727i in a direction 1960 opposite to the direction of extension 643, in which the contact length 19613 is smaller than the minimum contact length 19612 of the first operating state. The change in operating state reduces the contact area 1954 of the gripping element 107f. This can result, for example, in the gripping element 107f being flush with the second plate 7272, or in the gripping element 107f projecting minimally beyond the second plate 7272. The change in the operating state of the gripping device 102 or the gripping elements 107f can be carried out individually, in partial quantities or as the entire quantity of all gripping elements 107f of the gripping device.

[0381] In other words, embodiments of the present invention relate to a unit load singulation device for luggage.

[0382] In the context of exemplary embodiments of this disclosure, general cargo, freight items, and baggage items (e.g., general cargo 103) are to be understood as synonyms. Specifically, the problem solved by the invention can be divided into the following aspects, which can act singly and / or in combination:

[0383] General cargo (e.g., general cargo 103) in the area of ​​baggage and freight containers in the air transport sector (e.g., suitcases and bags) is manually separated from an existing packing pattern (e.g., packing pattern 319) for unloading from the cargo hold (e.g., cargo hold 316) of aircraft. This is done by hand (muscle power) and then moved out of the cargo hold (e.g., cargo hold 316). This requires considerable physical exertion from the human operators, who must avoid damaging the packages (e.g., general cargo 103). The weight of general cargo (e.g., general cargo 103) is typically limited to 32 kg, but can exceed this (e.g., 40-50 kg).

[0384] The general cargo items (e.g., general cargo 103) are each contained in a group or packing pattern (e.g., packing pattern 319) within the cargo hold (e.g., cargo hold 316), which was individually created during loading at the originating airport. Due to vibrations during flight, the packing pattern (e.g., packing pattern 319) may be compressed or partially disassembled. The packing pattern group (e.g., packing pattern 319) is located, for example, within the geometrically confined cargo hold of an aircraft (e.g., cargo hold 316), which limits access to the general cargo items (e.g., general cargo 103) for both the human operator and the...

[0385] SUBMISSION VERSION. DOCX The singulation of individual items (e.g., item 103) by the human operator is made more difficult.

[0386] The characteristics of individual items of general cargo (in the area of ​​containers in the baggage and travel sector) (e.g., general cargo 103) are subject to a high degree of variance and are unknown in both number and specific properties until the cargo hatch is opened. This variance includes geometry, dimensional stability, surface finish, and weight. International regulations in air traffic limit the variance with regard to geometry and weight. Nevertheless, a wide range of possible characteristics remains, which influence handling.

[0387] The geometric conditions within an aircraft cargo hold (e.g., cargo hold 316) offer very limited space for handling general cargo (e.g., general cargo 103) within the baggage and passenger compartment. When packed in a pattern (e.g., pattern 319), the baggage items (e.g., general cargo 103) are typically only visible from one side of their geometry from the aircraft cargo door through which the cargo hold (e.g., cargo hold 316) is loaded and unloaded. Additionally, the top surface of the uppermost layer of the pattern (e.g., pattern 319) is visible because fire safety regulations require a defined clearance between the cargo and the ceiling of the aircraft cargo hold (e.g., cargo hold 316). This free space (e.g., airspace 313) provides a limited action and movement space for handling processes within a cargo space (e.g., cargo space 316) when handling baggage.

[0388] General cargo in the area of ​​containers in the baggage and travel sector (e.g., suitcases and bags) (e.g., general cargo 103) is currently separated manually by human operators in the cargo hold (e.g., cargo hold 316) of aircraft from an existing packing pattern (e.g., packing pattern 319) using muscle power. Technical aids and equipment currently exist only for the feeding and removal of general cargo (e.g., general cargo 103) into / from the aircraft's cargo hold (e.g., cargo hold 316). The separation process is currently carried out manually by the human operator.

[0389] The invention described here aims to provide a gripping and handling technology that adapts to a wide range of properties (geometry, weight, surface, dimensional stability) of the item to be gripped (e.g. item 103) and thus achieves the singulation of a specific item (e.g. item 103) from a packaging pattern assembly (e.g. packaging pattern 319).

[0390] SUBMISSION VERSION. DOCX Furthermore, the invention described herein can represent a handling process for singulating pieces of luggage (e.g., general cargo 103) which allows for gentle handling of the general cargo (e.g., general cargo 103).

[0391] The invention described here can, for example, use the gap between the packing pattern assembly (e.g., packing pattern 319) and the ceiling of the aircraft cargo hold (e.g., cargo hold 316) to get behind the pieces of luggage (e.g., general cargo 103).

[0392] The figures described herein illustrate the various components, active systems, and properties of the invention presented here. In other words, alternative, supplementary, or replacement descriptions of individual elements of the figures are given below.

[0393] Fig. 1 shows an overview of various components and operating systems of the invention presented here.

[0394] 101: Frontally adjustable and swiveling element

[0395] 107: Adaptive form-lock gripper

[0396] 108: Linear element for receiving the frontally adjustable element

[0397] 110: Linearly movable element

[0398] 102: Mounting for adaptive form-lock gripper (swivelable and linearly movable)

[0399] A vacuum gripper (e.g., second gripping device 1339) can be included in the device as an additional active element, for example in the area of ​​element 108 (in the central area of ​​the transport structure 108 between the holding element 101 and the gripping device 102) to further support the gripping process. The vacuum gripper is effective on surfaces with suction cups (e.g., hard-shell cases). The vacuum gripper (e.g., second gripping device 1339) may be less effective on surfaces with air permeability (e.g., textile structures).

[0400] Fig. 3a:

[0401] Adaptation of the unit load singulation device (e.g. device 300) for luggage items (e.g. unit load 103) to the limited geometry in the filled cargo space of an aircraft (e.g. cargo space 316).

[0402] 108: Individual cargo separator for luggage

[0403] 316: Cargo space / cavity shaped depending on the aircraft type

[0404] 315: Pieces of luggage

[0405] SUBMISSION VERSION. DOCX an313: Legally required clearance (gap) between general cargo and the ceiling of the cargo space, e.g., but not necessarily, 15 cm

[0406] 314: Access to cargo area (unobstructed area)

[0407] Fig. 3b:

[0408] Detection of a topography within the packaging pattern assembly, such as packaging pattern 319, (can be done passively or through sensor-based localization) by swiveling the frontal gripping device (deliverable elements). After swiveling, the frontal gripping device (e.g., holding element 101) can exert force on a unit item (e.g., unit item 103) within the assembly.

[0409] 101: The frontal element is obstructed (e.g., into the rigid position)

[0410] Fig. 3c:

[0411] Moving the adaptive gripping technology (e.g. gripping device 102) towards the selected package (e.g. package 103) and adjusting the working elements (e.g. gripping elements 107) of the adaptive gripper (e.g. gripping device 102) to the front surface of the piece of luggage (e.g. package 103).

[0412] 1052: The adaptive gripper is delivered to the package / general cargo to be gripped.

[0413] Fig. 3d:

[0414] The adaptive gripper fits snugly to the piece of goods.

[0415] The adaptive gripper (e.g., gripping device 102) is visible as a "needle gripper" in Figures 1, 2, and 3a-f. The movable "needles" or pins adapt to the topography of the piece of luggage (e.g., general cargo 103), thereby creating a positive fit. Other principles that create a positive fit can also be used here (e.g., sponge-like and deformable media).

[0416] In another form, the adaptive part of the gripping technology can also be supported by a vacuum gripper (e.g. second gripping device 1339) which creates a force-fit from above.

[0417] Fig. 3e:

[0418] The adaptive gripper (e.g., gripping device 102) is moved linearly into position or lifted. This linear movement lifts the gripped item (e.g., item 103) on one side. This one-sided lifting of the item (e.g., item 103) causes the positive locking and often additional adhesion between the items (lower package / item to the package / item on top) to be eliminated or significantly reduced (e.g., between item 103 and the other item 315).

[0419] SUBMISSION VERSION. DOCX an1053: The adaptive gripper is positioned linearly and lifts the item on one side.

[0420] Fig. 3f:

[0421] The package (e.g., general cargo 103) is separated from the packing pattern group (e.g., packing pattern 319) by the gripping and handling technology described here and can be conveyed from the aircraft cargo hold (e.g., cargo hold 316).

[0422] 106: The picked item is removed from the packing pattern and separated.

[0423] Fig. 2:

[0424] By appropriately shaping the adaptive elements (e.g., gripping elements 107) in the gripping technology (e.g., gripping device 102), it is possible to remove the individual item (e.g., item 103) from the packing pattern assembly (e.g., packing pattern 319) solely by means of the adaptive element (e.g., gripping device 102) of the overall structure. The frontal element (e.g., holding element 101) is no longer required and can remain passive. This application is relevant, for example, when no indentation (topography) behind the baggage item (e.g., item 103) can be detected for the frontal gripper (e.g., holding element 101) to swivel into position, such as with smooth individual items (e.g., item 103) in a tightly packed packing pattern assembly (e.g., packing pattern 319) without detectable interfaces.

[0425] The adaptive gripper (e.g. gripping device 102) uses elements (e.g. gripping elements 101) that can create a positive fit with the contours of the item to be gripped (e.g. item 103).

[0426] The invention presented here makes it possible to provide a gripping and handling technology that adapts to a wide range of properties of the object to be gripped (e.g., object 103) by using components that adapt to the topography and shape of the object (e.g., object 103) and thus, among other things, create a positive fit. This provides a gripping technology (e.g., device 100, 199, 300, 900, 1350, 1450) in which the shape of the object to be gripped (e.g., object 103) does not need to be precisely defined or known before gripping. The gripping technology (e.g., device 100, 199, 300, 900, 1350, 1450) is therefore adaptive and flexible and universally applicable within predefined limits.

[0427] By lifting the unit (e.g., unit 103) gripped by the gripping and handling technology (e.g., device 100, 199, 300, 900, 1350, 1450) on one side, any existing positive fit between resting units (e.g., to other unit 315) can be released before linear removal. Likewise, a

[0428] SUBMISSION VERSION. DOCX. Adhesion of, for example, foil-wrapped luggage (e.g., general cargo 103) can be resolved by lifting one side, which supports the separation of the general cargo (e.g., general cargo 103) from the packing pattern group (e.g., packing pattern 319).

[0429] By means of the gripping technology (e.g. device 100, 199, 300, 900, 1350, 1450) using at least two force-introducing elements a) frontal gripper (e.g. holding element 101) and b) adaptive gripper (e.g. gripping device 102), the force to be applied for handling the item (e.g. item 103) is introduced into the item (e.g. item 103) at several points, thereby enabling gentle handling of the item (e.g. item 103) during the handling process.

[0430] The gripping and handling technology (e.g., device 100, 199, 300, 900, 1350, 1450) lifts the gripped item (e.g., item 103) from a packaging pattern assembly (e.g., packaging pattern 319) only on one side during the singulation process and then pulls it away linearly. This offers the advantage that the gripping and handling technology (e.g., device 100, 199, 300, 900, 1350, 1450) does not have to absorb the full weight of the item being handled (e.g., item 103). This has a positive effect against a possible loss of gripping force and thus the falling out of the item (e.g. item 103) from the gripping technology (e.g. device 100, 199, 300, 900, 1350, 1450).

[0431] The actuators used here can be monitored and controlled by sensors in such a way that collisions with the sensitive outer contour (inner wall) of the cargo space (e.g. cargo space 316) are avoided.

[0432] The gripping and handling technology described here (e.g., devices 100, 199, 300, 900, 1350, 1450 and systems 1000, 1100, 1300, 1400) is based on components, mechanisms, and a functional sequence that, in this design and action sequence, can only be circumvented with great difficulty, if at all. Replacing individual mechanisms of the overall concept limits its applicability to a wide range of unit loads (e.g., unit load 103).

[0433] Ideas of the present invention are touched when a gripping and handling technology (e.g. the device 100, 199, 300, 900, 1350, 1450 and the system 1000, 1100, 1300, 1400) is based on the components, mechanisms of action and functional sequence / action sequence described in this document.

[0434] SUBMISSION VERSION. DOCX. The technical application area of ​​the unit load singulation device (e.g., device 100, 199, 300, 900, 1350, 1450 or system 1000, 1100, 1300, 1400) is, for example, in the area of ​​containers for baggage and freight items in the transport / travel sector, e.g., in cargo holds (e.g., cargo hold 316) of aircraft, ground support vehicles, or air freight carriers. The geometric conditions of the cargo holds (e.g., cargo hold 316) of aircraft / cargo carriers and the high variance of baggage items (e.g., unit load 103) transported in aircraft cargo holds worldwide constitute the field of action of the technology presented here.

[0435] A device or system described herein (e.g., the device 100, 199, 300, 900, 1350, 1450 or the system 1000, 1100, 1300, 1400) can also be used for unloading containers (e.g., cargo space 316) loaded with luggage (e.g., general cargo 103).

[0436] The very high proportion of human labor currently required for baggage handling within aircraft cargo holds (e.g., cargo hold 316) will, due to global demographic changes in the population, necessitate the use of supporting technology in the future to ensure that flight operations can continue at the current level.

[0437] The invention can also be described under the title "Fully automatic loading and unloading of loose luggage".

[0438] Development status and feasibility of luggage grabbers

[0439] To determine the design parameters for the presented gripping technology (gripping claws (e.g. holding elements 101)), the following sensor tests were carried out (laser-based / optical measurement method):

[0440] ■ Test phases for determining the topography of luggage

[0441] ■ Detection of gaps between pieces of luggage (general cargo 103)

[0442] The following features and difficulties are present in this invention:

[0443] ■ The suitcases and other luggage are not stored separately in the cargo hold. Individual suitcases (e.g., general cargo 103) must be separated from the group (e.g., packing pattern 319).

[0444] ■ Access to backpack with "neighbor" case positioned to the side

[0445] SUBMISSION VERSION. DOCX on■ Preferred selection of the suitcase to be separated as the “edge” of the luggage group

[0446] The invention can also be described as "Fully automatic loading and unloading of loose luggage".

[0447] • A deliverable, flexible element described herein (e.g. gripping device 102) can be folded away in certain configurations and can thus be moved out of the way of the conveying direction when the luggage is being transported.

[0448] • Exemplary embodiments utilize the “mushroom heads” (e.g., mushroom heads 421) instead of pins to achieve the interlocking / hooking action. These embodiments therefore do not require an additional actuator to generate the tensile force.

[0449] • An overarching element described herein (e.g. retaining element 101) is so compact that it fits into the space between luggage and the cargo area ceiling.

[0450] Although some aspects have been described in connection with a device, it is understood that these aspects also constitute a description of the corresponding process, such that a block or component of a device can also be understood as a corresponding process step or as a feature of a process step. Similarly, aspects described in connection with or as a process step also constitute a description of a corresponding block, detail, or feature of a corresponding device. Some or all of the process steps can be performed by (or using) a hardware apparatus, such as a microprocessor, a programmable computer, or an electronic circuit. In some embodiments, some or more of the key process steps can be performed by such an apparatus.

[0451] The embodiments described above merely illustrate the principles of the present invention. It is understood that modifications and variations of the arrangements and details described herein will be obvious to other people skilled in the art. Therefore, it is intended that the invention be limited only by the scope of protection set forth in the following claims and not by the specific details presented herein in the description and explanation of the embodiments. The cargo holds of an aircraft are used in the above text as examples of a geometrically limited cargo space; this in no way restricts the device to aircraft.

[0452] SUBMISSION VERSION. DOCX to

Claims

Patent claims 1. Device (100, 199, 300, 900, 1350, 1450) for removing a piece of goods (103) from a packing pattern (319) having the following features: a movable gripping device (102) which is designed to establish mechanical contact with the unit load (103) and to exert a force on the unit load (103); a holding element (101) designed to hold the item (103) in a rigid position on one side opposite the gripping device (102) for removal; wherein the gripping device (102) is designed to perform a movement (105) of the gripping device (102) onto the holding element (101); wherein the device (100, 199, 300, 900, 1350, 1450) is designed to change the orientation of the unit load (103) to a modified orientation (104) based on mechanical contact; and to release the unit load (103) in the modified orientation (104) from the packing pattern (319).

2. Device (100, 199, 300, 900, 1350, 1450) according to claim 1, wherein the gripping device (102) is designed to change the unit load (103) into the changed orientation (104) based on the movement (105) of the gripping device (102).

3. Device (100, 199, 300, 900, 1350, 1450) according to claim 1 or 2, in which the gripping device (102) is designed to exert force on the piece goods (103) in the direction of the holding element (101).

4. Device (100, 199, 300, 900, 1350, 1450) according to claim 3, which is designed to release the unit load (103) in the changed orientation by contact of the holding element (101) and the gripping device (102) with the unit load (103), wherein the holding element (101) is configured to exert an opposing force relative to the force of the gripping device (102). SUBMISSION VERSION. DOCX an5. Device (100, 199, 300, 900, 1350, 1450) according to any one of the preceding claims, which is designed to perform the movement (105) of the gripping device (102) as a rotational movement (105i) of the gripping device (102).

6. Device (100, 199, 300, 900, 1350, 1450) according to one of the preceding claims, which is configured to perform the movement (105) at least partially as a rotational movement (105i) in order to lift the unit item (103) at the point of contact and thus effect the changed orientation (104); and to release the unit item (103) from the packing pattern (319) with an additional axial movement (1052, 105a) or a further rotational movement (105i) of the gripping device (102).

7. Device (100, 199, 300, 900, 1350, 1450) according to any one of the preceding claims, configured to perform the removal of the piece item (103) along an axial direction (106); and in which the gripping device (102) is designed to perform a rotational movement after removal, in order to move the piece item (103) further along the axial direction (106) after removal.

8. Device (100, 199, 300, 900, 1350, 1450) according to one of the preceding claims, wherein the gripping device (102) is arranged to be movable in multiple axes and is designed to move the piece goods (103) based on a multi-axis movement.

9. Device (100, 199, 300, 900, 1350, 1450) according to one of the preceding claims, which is designed to establish mechanical contact between the holding element (101) and the unit load (103) by the movement (105) of the gripping device (102) on the unit load (103) and a force thereby directed towards the holding element (101).

10. Device (100, 199, 300, 900, 1350, 1450) according to one of the preceding claims, in which the holding element (101) is designed as a passive counter-holding element opposite the gripping device (102). SUBMISSION VERSION. DOCX an11. Device (100, 199, 300, 900, 1350, 1450) according to one of the preceding claims, wherein the device (100, 199, 300, 900, 1350, 1450) is designed to guide the holding element (101) past the unit load (103) in a first relative position, and to subsequently perform a holding element movement (1851) of the holding element (101) to move the holding element (101) into a second relative position for the rigid position in which the unit load (103) is at least partially located between the holding element (101) and the gripping device (102).

12. Device (100, 199, 300, 900, 1350, 1450) according to claim 11, in which the holding element (101) is one of a plurality of holding elements (101) that are arranged side by side and can be controlled individually; wherein the device (100, 199, 300, 900, 1350, 1450) is designed to individually position one or more holding elements (101) of the plurality of holding elements (101) on the unit item (103) opposite the gripping device (102).

13. Device (100, 199, 300, 900, 1350, 1450) according to claim 11 or 12, where the first relative position is a folded position, and the second relative position is an unfolded position; or where the first relative position is a retracted position, and the second relative position is an extended position.

14. Device (100, 199, 300, 900, 1350, 1450) according to claims 11 to 13, where the holding element (101) is configured to be flexible in a first state and rigid in a second state; and the device (100, 199, 300, 900, 1350, 1450) is designed such that in the first relative position of the holding element (101) the holding element (101) is in the first state and in the second relative position of the holding element (101) the holding element (101) is in the second state.

15. Device (100, 199, 300, 900, 1350, 1450) according to any one of claims 11 to 14, which is configured to guide the holding element (101) past the workpiece (103) along a direction of movement (318); wherein the holding element (101) in the first SUBMISSION VERSION. DOCX relative position has a reduced dimension along a direction perpendicular to the direction of movement compared to the second relative position.

16. Device (100, 199, 300, 900, 1350, 1450) according to any one of claims 11 to 15, which is configured to perform the holding element movement (1851) as a rotational movement or extension movement.

17. Device (100, 199, 300, 900, 1350, 1450) according to one of the preceding claims, wherein the device (100, 199, 300, 900, 1350, 1450) comprises an impact shield (1338) arranged adjacent to the holding element (101), which is designed to reduce or prevent mechanical contact between the packing pattern (319) and the holding element (101) during passage of the holding element (101) over the package (103), and to displace a part of the packing pattern (319) based on mechanical contact with the packing pattern (319) in order to allow a space for movement of the holding element.

18. Device (100, 199, 300, 900, 1350, 1450) according to one of the preceding claims, in which the package (103) is arranged at the top of the packing pattern (319) and is a foremost package (103) of the packing pattern (319) and the device (100, 199, 300, 900, 1350, 1450) is designed to make contact with the gripping device (102) on a front side of the package (103) opposite a rear side of the package (103).

19. Device (100, 199, 300, 900, 1350, 1450) according to one of the preceding claims, which is designed to extract the package (103) from the packing pattern (319) along a direction away from the back of the packing pattern (319).

20. Device (100, 199, 300, 900, 1350, 1450) according to one of the preceding claims, who is trained to place the packing pattern (319) after or during removal in front of the packing pattern (319).

21. Device (100, 199, 300, 900, 1350, 1450) according to one of the preceding claims, SUBMISSION VERSION. DOCX is designed to move the unit load (103) from an initial position to the changed orientation (104); and to reduce the size of a contact area of ​​the unit load (103) to other unit loads (315) of the packing pattern (319) in the changed orientation (104) compared with the initial position.

22. Device (100, 199, 300, 900, 1350, 1450) according to one of the preceding claims, in which the gripping device (102) is designed to adapt to a topology of the unit load (103).

23. Device (100, 199, 300, 900, 1350, 1450) according to claim 22, wherein the gripping device (102) has an elastic surface area facing the piece goods (103) which is designed to adapt to the topology and / or at least one gripping element (107) of the gripping device (102) is flexibly mounted to adapt to the topology based on contact.

24. Device (100, 199, 300, 900, 1350, 1450) according to one of the preceding claims, in which the gripping device (102) comprises a plurality of gripping elements (107) arranged laterally and / or offset adjacent to each other, which are designed to contact the unit load (103).

25. Device (100, 199, 300, 900, 1350, 1450) according to claim 24, in which each of the gripping elements (107) of the plurality of gripping elements (107) is formed in a pin-like manner along an axial extension direction (643), and is elastically formed and / or flexibly mounted along the axial extension direction (643).

26. Device (100, 199, 300, 900, 1350, 1450) according to claim 24 or 25, wherein a first subset of the gripping elements (107) is connected to a first support structure (420); wherein a second subset of the gripping elements (107) is connected to a second support structure (420); wherein the first support structure (420) and the second support structure (420) are arranged to be movable relative to each other perpendicular to the axial extension direction (643) in order to change a distance between the first subset and the second subset in order to hold or release an object at the changed distance. SUBMISSION VERSION. DOCX an27. Device (100, 199, 300, 900, 1350, 1450) according to claim 25 or 26, wherein the gripping elements (107) of the first subset and the gripping elements (107) of the second subset are arranged interdigitally.

28. Device (100, 199, 300, 900, 1350, 1450) according to claims 24 to 27, in which at least one gripping element (107) is designed as an axially movable pin directed towards the piece goods (103).

29. Device (100, 199, 300, 900, 1350, 1450) according to one of claims 24 to 28, in which at least one gripping element (107) has an axial extension direction (643) and has at an end region facing the unit product (103) an enlarged lateral dimension (423) perpendicular to the axial extension direction (643) compared to an opposite end region facing away from the unit product (103).

30. Device (100, 199, 300, 900, 1350, 1450) according to claim 29, in which the enlarged lateral dimension (423) exhibits an asymmetric enlargement, and on a first side of an extension axis of the gripping element (107) extends further radially outwards than on a second side.

31. Device (100, 199, 300, 900, 1350, 1450) according to one of claims 24 to 30, wherein the gripping device (102) has at least one gripping element (107) which, in a first operating state of the gripping device (102), is flexibly mounted for engagement with the packing pattern (319) along an axial extension direction (643) of the gripping element (107) between a minimum contact length (19612) and a maximum contact length (19611); wherein the device is designed to select in a second operating state of the gripping device (102) the contact length (1961a) smaller than the minimum contact length (19612) of the first operating state in order to reduce a contact area (1964) of the gripping element (107) with the packing pattern (319) compared to the first operating state.

32. Device (100, 199, 300, 900, 1350, 1450) according to claim 31, which is designed to control the plurality of gripping elements (107) individually or in groups as a subset of the plurality of gripping elements (107) between the first and the second operating state. SUBMISSION VERSION. DOCX an33. Device (100, 199, 300, 900, 1350, 1450) according to one of claims 24 to 32, in which at least one gripping element (107) is mounted to rotate eccentrically; wherein the device (100, 199, 300, 900, 1350, 1450) is designed to perform an eccentric rotation (828) of the gripping element (107) after contact has been established.

34. Device (100, 199, 300, 900, 1350, 1450) according to one of the preceding claims, in which at least one gripping element (107) of the gripping device (102) or the holding element (101) is designed to be slip-resistant.

35. Device (100, 199, 300, 900, 1350, 1450) according to one of the preceding claims, with a transport structure (108), wherein the gripping device (102) and the holding element (101) are mechanically coupled to the transport structure (108) and movably arranged on the transport structure (108); where the changed orientation of the general cargo (103) is a change of orientation relative to the transport structure (108); wherein the rigid position of the retaining element (101) is a rigid position in relation to the transport structure (108); wherein the device (100, 199, 300, 900, 1350, 1450) is designed to perform the movement (105) of the gripping device (102) as a relative movement to the transport structure (108).

36. Device (100, 199, 300, 900, 1350, 1450) according to claim 35, in which the transport structure (108) is designed for a telescopic movement in order to move an end of the transport structure (108) facing the packing pattern (319) into or over the packing pattern (319); wherein the retaining element (101) is arranged at the first end (111) facing the packing pattern (319). SUBMISSION VERSION. DOCX an37. Device (100, 199, 300, 900, 1350, 1450) according to any one of the preceding claims, in which the retaining element (101) and a transport structure (108) supporting the retaining element (101) together in a first relative position of the retaining element (101) and for a movement of the retaining element (101) past the packing pattern (319) has a height dimension that is less than an aircraft-associated fire protection distance to be maintained for the packing pattern (319).

38. Device (100, 199, 300, 900, 1350, 1450) according to one of claims 35 to 37, wherein in a unit load area of ​​the transport structure (108) a second gripping device (1339) coupled to the gripping device (102) is arranged, which is designed to perform a force-fit with the unit load (103) as an alternative or additional to the movement (105) of the gripping device (102).

39. Device (100, 199, 300, 900, 1350, 1450) according to claim 38, wherein the second gripping device (1339) comprises a suction device designed to generate the force transmission based on a suction force.

40. Device (100, 199, 300, 900, 1350, 1450) according to one of claims 38 or 39, wherein the second gripping device (1339) is floatingly mounted on the transport structure (108).

41. Device (100, 199, 300, 900, 1350, 1450) according to any one of claims 35 to 40, which is configured to change the orientation of the transport structure (108) on a horizontal plane.

42. Device (100, 199, 300, 900, 1350, 1450) according to one of the preceding claims, wherein the device (100, 199, 300, 900, 1350, 1450) comprises a counterforce element (929) which is designed to exert a counterforce on another piece of packaging (315) of the packing pattern (319) during the removal of the piece of packaging (103) in order to at least partially prevent the other piece of packaging (315) from moving along with the piece of packaging (315) when the piece of packaging (103) is removed.

43. Device (100, 199, 300, 900, 1350, 1450) according to one of the preceding claims, SUBMISSION VERSION. DOCX comprising a sensor device configured to perform a first scan of at least a first scanning area of ​​the packing pattern (319); to provide a first sensor signal based on the first scan; wherein the device (100, 199, 300, 900, 1350, 1450) is configured to determine a rear target area of ​​the package (103) based on the first sensor signal; wherein the device (100, 199, 300, 900, 1350, 1450) is designed to move the retaining element (101) into the rear target area and to change the relative position of the retaining element (101) there in order to move the retaining element (101) into the rigid position.

44. Device (100, 199, 300, 900, 1350, 1450) according to one of the preceding claims, comprising a sensor device configured to perform a second sampling of at least a second sampling area of ​​the packing pattern (319); to provide a second sensor signal based on the second sampling; wherein the device (100, 199, 300, 900, 1350, 1450) is configured to determine a target area of ​​the piece item (103) based on the second sensor signal; and to guide the gripping device (102) towards the target area in order to establish contact in the target area.

45. Device (100, 199, 300, 900, 1350, 1450) according to any one of the preceding claims, which includes a control device configured to limit the movement of the device (100, 199, 300, 900, 1350, 1450) and / or the holding element (101) and / or the gripping device (102) based on a movement space configuration within an actuator space; wherein the actuator space is a sub-area of ​​a possible total movement space of the device (100, 199, 300, 900, 1350, 1450).

46. ​​Device (100, 199, 300, 900, 1350, 1450) according to one of the preceding claims, SUBMISSION VERSION. DOCX wherein the device (100, 199, 300, 900, 1350, 1450) is configured to limit any movement of the device (100, 199, 300, 900, 1350, 1450) to a movement-specific maximum force.

47. Device (100, 199, 300, 900, 1350, 1450) according to one of the preceding claims, which is formed for unloading general cargo (103), and the general cargo (103) is a piece of luggage, in particular an air freight item.

48. Device (100, 199, 300, 900, 1350, 1450) according to one of the preceding claims, which is designed for loading or unloading an aircraft, wherein the general cargo (103) is a piece of luggage or freight.

49. Device (100, 199, 300, 900, 1350, 1450) according to one of the preceding claims, which is further equipped to move a plurality of unit loads (103) into a packing pattern (319).

50. System (1000, 1100, 1300, 1400) with: a device (100, 199, 300, 900, 1350, 1450) according to one of the preceding claims; a transport device (1030) designed to transport the packaged goods (103) away from or towards the packaged pattern (319); wherein the device (100, 199, 300, 900, 1350, 1450) is designed to position the unit load (103) on the transport device (1030).

51. System (1000, 1100, 1300, 1400) according to claim 50, wherein the transport device (1030) is designed to exert a counterforce on another unit item (315) from the packing pattern (319) to prevent the other unit item (315) from being detached during the removal of the unit item (103).

52. System (1000, 1100, 1300, 1400) according to one of claims 50 or 51, SUBMISSION VERSION. DOCX attached showing the device (100, 199, 300, 900, 1350, 1450) supported on the transport device (1030).

53. System (1000, 1100, 1300, 1400) according to one of claims 50 to 52, which is designed to position at least one guide element (1135) laterally adjacent to the package (103) in order to guide a movement of the package (103) laterally during removal from the packing pattern (319) or during movement of the package (103) into the packing pattern (319).

54. System according to any one of claims 50 to 53, which is trained to position at least one guide element (1135) in such a way as to assist in positioning the unit load (103) on the transport device (1030).

55. System (1000, 1100, 1300, 1400) according to one of claims 50 to 54, which is designed to position at least one guide element (1135) laterally adjacent to the unit load (103) in order to bring the unit load (103) into a receiving position for the device (100, 199, 300, 900, 1350, 1450).

56. System (1000, 1100, 1300, 1400) according to one of claims 50 to 55, wherein the transport device (1030) is designed as a counterholding element (929) to exert a counterforce on another piece of packaging (315) of the packing pattern (319) during the removal of the unit of packaging (103), in order to at least partially prevent the other piece of packaging (315) from moving along with the unit of packaging (315) when the unit of packaging (103) is removed.

57. System (1000, 1100, 1300, 1400) according to one of claims 50 to 56, where the system (1000, 1100, 1300, 1400) is designed to process a plurality of unit loads (103), wherein the system (1000, 1100, 1300, 1400) is designed to receive the majority of unit loads (103) in a first sequence and output them in a modified second sequence.

58. System (1000, 1100, 1300, 1400) according to one of claims 50 to 57, which has a sorting volume (1031) and is designed to temporarily remove at least one unit item (103) from the majority of unit items (103) from the initial sequence SUBMISSION VERSION. DOCX to include the sort volume (1031) and output it from the sort volume (1031) to another position in a changed order.

59. System (1000, 1100, 1300, 1400) according to one of claims 50 to 58, which includes a feed element (1137) which is designed to assist in the insertion of the unit load (103) into the packing pattern (319) by applying a pressure force to the unit load (103).

60. System (1000, 1100, 1300, 1400) according to claim 59, where the transport device (1030) is the feed element (1137).

61. Device (100, 199, 300, 900, 1350, 1450) for removing a unit item (103) from a packing pattern (319) having the following features: a movable gripping device (102) which is designed to establish mechanical contact with the unit load (103) and to exert a force on the unit load (103); wherein the gripping device (102) has a plurality of gripping elements (107) which extend along an axial direction (643) and are arranged laterally adjacent to each other and are designed to establish mechanical contact with the piece goods (103); wherein a first subset of the gripping elements (107) is connected to a first support structure (420); wherein a second subset of the gripping elements (107) is connected to a second support structure (420); wherein the first support structure (420) and the second support structure (420) are arranged movably relative to each other perpendicular to the axial extension direction (643) in order to change a distance between the first subset and the second subset in order to hold or release an object at the changed distance; wherein the device (100, 199, 300, 900, 1350, 1450) is designed to change the orientation of the unit load (103) to a different orientation based on mechanical contact; and to release the unit load (103) in the changed orientation from the packing pattern (319).

62. Device (100, 199, 300, 900, 1350, 1450) according to claim 61, further comprising SUBMISSION VERSION. DOCX on a holding element (101) designed to hold the unit load (103) in a rigid position on one side opposite the gripping device (102) for removal; wherein the gripping device (102) is designed to perform a movement (105) of the gripping device (102) onto the holding element (101).

63. Gripping tool (1700) with: a mechanical interface (1641) designed for repeated and reversible mechanical coupling by means of a receptacle for a robot; wherein the gripping tool (1700) has a gripping device (102) movably arranged relative to the interface (1641) for a tilting or rotational movement (105i), wherein the gripping device (102) is formed comprising a plurality of gripping elements (107) arranged side by side, each of which is configured to contact an object; wherein each gripping element (107) extends along an axial direction (643) and is elastically formed and / or flexibly mounted along the axial direction (643).

64. Gripping tool (1600) for making contact with a piece item (103), with a mechanical interface (1641) designed for repeated and reversible mechanical coupling by means of a receptacle for a robot; a plurality of gripping elements (107) which extend along an axial direction (643) and are arranged laterally adjacent to each other and are designed to make contact with the piece goods (103); wherein a first subset of the gripping elements (107) is connected to a first support structure (420); wherein a second subset of the gripping elements (107) is connected to a second support structure (420); wherein the first support structure (420) and the second support structure (420) are arranged movably relative to each other perpendicular to the axial extension direction (643) in order to change a distance (1649) between the first subset and the second subset in order to hold or release an object at the changed distance. SUBMISSION VERSION. DOCX an65. Gripping tool (1600) according to claim 64, in which the gripping elements (107) of the first subset and the gripping elements (107) of the second subset are arranged interdigitally.

66. Gripping tool (1600, 1700) according to claims 63 to 65, in which the majority of gripping elements (107) are elastically formed at an end area and / or are flexibly mounted in order to adapt to a topology of the unit material (103) upon contact with the unit material (103).

67. Gripping tool (1600, 1700) according to one of claims 63 to 66, which includes an interface for at least one of a power transmission, an energy transmission and a data transmission.

68. Gripping tool (1600, 1700) according to one of claims 63 to 67, wherein the gripping tool (1600, 1700) is a gripping device (102) of a device according to any one of claims 1 to 49. SUBMISSION VERSION. DOCX to

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