WO2015036119A1

WO2015036119A1 - Device for loading a load carrier such as a pallet or similar

Info

Publication number: WO2015036119A1
Application number: PCT/EP2014/002464
Authority: WO
Inventors: Heiner Schaefer
Original assignee: Schaefer Förderanlagen- und Maschinenbau GmbH
Priority date: 2013-09-13
Filing date: 2014-09-11
Publication date: 2015-03-19
Also published as: DE102013021533B4; DE102013021533A1

Abstract

The invention relates to a device for loading/unloading a load carrier such as pallets (13) or similar with goods (2), comprising a gripping device (16) which is arranged on a multi-axis manipulator (4) which comprises a base part (6) which can be displaced along a horizontal Z-axis which is close to the ground, and a cantilever (8) which can be displaced along a Y axis which is vertical to the base part (6). According to the invention, said gripping device (16) of the manipulator comprises at least two gripping heads (9, 10) which are arranged on the cantilever (8) such that they can be moved respectively along an X-axis on the cantilever.

Description

Device for loading a load carrier such as a pallet or the like

The present invention relates to a device for loading / unloading a load carrier such as pallets or the like with piece goods, with a gripping device which is arranged on a multi-axis manipulator, one along a lying, Z-axis movable bottom part and one on the base part along an upright Y-axis has movable boom.

For loading of load carriers such as pallets with piece goods such as containers for example from the food industry, especially with beverage containers such as bottles, packs, cans such as beer cans or pre-grouped, for example, held together by shrink film groups of individual products such as the aforementioned beverage containers, or even with food containers such Food cans or lidded jars such as jam jars, often manipulators such as robots are used to grab the containers individually or in groups at a parking space and translate to a palletizing place to drop the container on the pallet located there or already existing layers of garnish and in this way to stack a bundle on the pallet. The containers can be taken individually from the place of supply and on the pallet or there already formed Be set container layer, or it can be grabbed by a gripper head and several juxtaposed bundles simultaneously, placed over and placed on the pallet. When unloading a pallet, the procedure is reversed accordingly. Such pallets may be, for example, wooden pallets, but also be designed in the form of plastic pallets. Similarly, other pallet-like load carriers such as lattice boxes or trolleys can be loaded or unloaded, which are then engaged, for example, by a forklift and liftable to be transported or intermediately stored.

As a piece goods not only the aforementioned containers from the food sector can be gripped or sold, but also other preferably uniformly contoured piece goods such as sacks, bricks, boxes, boxes, barrels, shrink packs or production parts that are stackable transported on such pallet-like load carriers.

Of course, grabbing several packaged goods or packs at the same time considerably increases the performance when loading or unloading a pallet. On the other hand, this is not readily possible if the container layers to be formed on the pallet should have a specific layer image with differently oriented containers in one layer. In a so-called composite layer image in which the packs or packs are to be arranged longitudinally and transversely in a layer, the number of packs or packs, which can be taken without Vorgruppierung in one operation by the gripping head, limited, since only the side by side in the same orientation packs can be used at once. In this respect, the gripping head or manipulator has to move back and forth several times in order to be able to create such a more complex layer image. The required multiple translatory processes affect the performance more or less sustainable, especially if the storage space is quite far away from the palletizing. The present invention is therefore based on the object to provide an improved method and an improved device of the type mentioned, avoid the disadvantages of the prior art and further develop the latter in an advantageous manner. In particular, complex layer images should also be able to be loaded and unloaded precisely and with high performance with a simply designed device.

According to the invention, said object is achieved by a device according to claim 1. Preferred embodiments of the invention are the subject of the dependent claims.

It is therefore proposed to simultaneously convert several piece goods or a piece goods and an intermediate layer, but to use separate gripping heads, which are each movable to settle each gripped container at the desired position can. The gripping heads are mounted on a common boom, but relatively movable to one hand to avoid the control engineering effort, the relative inaccuracies and the collision problem of two completely separate manipulators and on the other hand be able to settle the simultaneously translated containers in different orientations at different locations in the layer image , According to the invention, it is provided that the gripping device of the manipulator comprises at least two gripping heads arranged on the boom, which grippers are arranged so as to be movable on the boom in each case along an X-axis.

In this case, in the case of a mirror-symmetrical layer image, the two gripping heads can be operated in full parallel, in particular if the piece goods on a common charge carrier in a layer image which is mirror-symmetrical to a central axis perpendicular to the said X-axis of the manipulator, or on a pair of charge carriers arranged next to each other in the sense a double pallet loading to be stored or such a mirror-symmetrical layer image is to be resolved and unloaded. By paralleling the translation process can be up to twice as large Performance can be achieved as with a conventional manipulator with only one gripping head, with each of the several gripping heads each a single container or a series of juxtaposed containers to be discontinued in a common orientation, can be gripped. Preferably, an attempt is also made here to grasp the largest possible number of piece goods at the same time and to translate them into a translation operation and then to place them. The largest possible number of simultaneously reachable by a gripper head piece goods is usually a series of juxtaposed cargo that will be sold in the same orientation.

Preferably, the layer image can be formed mirror-symmetrically out of the center in order to avoid collisions with already placed piece goods.

In other, in particular non-mirror-symmetrical layer images, it is possible to work more or less in parallel with the plurality of working heads. For example, by appropriate positioning of the container at the supply location and / or approaching individual gripping positions by the multiple gripping heads different numbers of containers can be gripped simultaneously or sequentially per gripping head, but then translated in a common translation process time-parallel and finally discontinued, which in turn can be done in parallel or successively Depending on the design of the mobility of the gripping heads and the layer images to be generated to settle the container at the desired position in the desired orientation. Even if the gripping operation and / or the settling process of the several gripping heads is at least partially performed in succession or not completely overlapping time, can still be saved by the common compilation process considerable time and thereby gaining power. In practice, it is often the case that the travel path from the supply station to the palletizing station or vice versa is usually significantly greater than the distance between the units to be placed in one position relative to one another. In an advantageous embodiment of the invention, said gripping heads are arranged not only movable on the boom, but also designed to be rotatable or tiltable or pivotable. In particular, the at least two gripping heads can each be arranged rotatably on the extension arm about at least one rotation axis, wherein said rotation axis can extend parallel to the aforesaid Y-axis of the manipulator. Depending on the handling task, it may be sufficient if the gripper heads can be rotated about a common axis of rotation. Advantageously, however, each of the gripping heads is rotatable about its own axis of rotation and independently rotatable by means of rotary drives.

In a further development of the invention, said gripping heads can also have differently oriented pivoting or tilting axes. Advantageously, a tiltability of the gripping heads about a parallel to the Z axis of the manipulator tilting axis and / or pivoting of the gripping heads about a parallel to the X axis pivot axis may be provided, advantageously each of the gripping heads have its own tilt axis and / or pivot axis and by a corresponding tilting or swivel drive can be driven independently of each other gripping head.

The rotatability of the plurality of gripping heads can be realized in principle with respect to different axes of rotation, wherein in an advantageous development of the invention, each of the gripping heads rotatably formed at least one respective upright, in particular vertical axis of rotation and / or about each one parallel to the aforementioned Y-axis axis of rotation or can be stored. The aforementioned Y-axis can be in particular the lifting axis of the manipulator, along which the boom, on which the gripping heads are mounted, relative to the base part of the manipulator is raised and lowered. Due to the rotatability of the gripping heads about an axis parallel to the axis of rotation, the gripped containers can optionally be placed longitudinally or transversely on the palletizing station or the pallet located there or a layer lying thereon. In an advantageous embodiment of the invention, each gripping head has its own axis of rotation and its own Rotary drive, so that the gripping heads can be rotated independently of each other about their respective axis of rotation.

In addition to the aforementioned rotatability, the gripper heads are each movable along the X-axis on the cantilever, wherein said X-axis can in particular form the longitudinal axis of the cantilever and / or can be oriented transversely to the Z-axis and / or transversely to the Y-axis along which the manipulator base or the boom can be moved. The said base part of the manipulator is advantageously movable down below or movably mounted at its lower end portion along the Z axis and / or formed in the manner of an upright portal part, on which said boom can be raised and lowered along the Y axis. In Z-axis lying below the said base part may be formed in particular as a portal post, on which the boom can be moved up and down.

In particular, the X, Y and Z axes can each be aligned perpendicular to each other and form a spatial coordinate system, wherein advantageously the X and Z axes lying and the Y axis are aligned upright.

The mobility of the gripping heads along the X-axis on the boom of the manipulator can be designed differently. For example, the multiple gripping heads can be moved along a common guideway in the direction of the X-axis, so that the gripping heads can run one behind the other or be moved away from one another and toward one another in the common guideway.

Alternatively, separate guide tracks may be provided for the plurality of gripping heads, which may extend parallel to each other, in particular in each case in the direction of the X-axis and are advantageously spaced apart so far that the gripping heads pass each other in order to have greater freedom in the positioning of the gripper heads in the direction of the X-axis and no mutual interference.

Advantageously, the gripper heads can be assigned separate, independently controllable or actuatable drive devices for moving in the direction of the X-axis, so that the gripper heads can be moved independently of one another. If the device is to be used only for generating mirror-symmetrical layer images, as explained above, a common drive can also be provided, which can move the gripper heads synchronously in the direction of the X-axis, if necessary with a switchable relative direction of rotation such that the gripper heads on the one hand toward each other and can be moved apart and on the other hand synchronously forward and backward movable.

Alternatively or in addition to the mentioned axes of movement of the gripping heads relative to the boom and / or the already mentioned axes of movement of the boom and the base part, the manipulator in development of the invention may comprise other axes of movement. In particular, the base part or a tower or post-like support part on which the boom is mounted movable up and down relative to the guide track and / or the boom relative to the aforementioned tower-like support member to be rotatable about a preferably upright axis of rotation, so that the boom, for example, on opposite sides of the guideway pivotable or on the guideway itself is pivotable. In particular, the manipulator may be designed to be rotatable about the aforesaid Y-axis or a Y-parallel axis. As an alternative or in addition to such rotatability about the Y-axis, the manipulator may also have a rotatability about the aforementioned X-axis or an X-axis parallel axis of rotation, for example around the cantilever about its longitudinal axis and thus the gripping heads mounted thereon to be able to tilt.

The manipulator may comprise further translational and / or rotational axes of motion. The two gripping heads can basically comprise the same gripping means for gripping the container, for example a pair of clamping bars movable towards and away from one another, between which a corresponding container can be gripped and / or positively gripped, for example in the region of a bottle neck below a head bead or on another suitable place. Alternatively or additionally, the gripping means may comprise suction grippers, by means of which containers or intermediate layers such as cardboard sheets or the like can be gripped. Alternatively or additionally, gripping means, gripping forks, carrying plates or gripping means tuned in a different way to the respective piece goods can also be used as gripping means. In an alternative, advantageous embodiment of the invention, the gripping heads may also have differently shaped gripping means, which are adapted to different types of containers in order to grip different containers or container types with different gripping heads.

Advantageously, the gripping means are interchangeably attached to the respective gripping head so that different gripping means can be mounted and the gripping heads can be configured for different containers. Advantageously, said gripping means are tool-free exchangeable, for example by means of quick-clamping means having a manually operable clamping lever.

The invention will be explained in more detail with reference to two preferred embodiments and associated drawings. In the drawings show:

Fig. 1: a perspective view of a device for loading a

Pallet with containers according to an advantageous embodiment of the invention,

Fig. 2: a schematic, perspective view of another

Apparatus for loading a pallet with containers according to a further advantageous embodiment of the invention, in which two pallets provided side by side are loaded in parallel, 3 shows a perspective individual view of one of the manipulators from the preceding figures, which shows in more detail the movability of the base part on a guideway and the arrangement of the gripper devices on the arm of the manipulator,

4 shows a schematic side view of the manipulator from FIG. 3, FIG.

Fig. 5: a schematic plan view of a manipulator with two

Greil heads, which show a translation process with simultaneous recording and simultaneous discontinuation in different operating positions,

Fig. 6: a plan view of a manipulator with two gripping heads in several

Positions that show the course of a translation process with a simultaneous recording of the products and a time and position offset discontinuation of the products,

7 shows a plan view of a manipulator with two differently configured gripping heads in different positions, showing a replacement operation of two different products with simultaneous picking up and simultaneously depositing at the same location or on a common pallet,

Fig. 8: a plan view of a manipulator with two different

Gripping heads in various positions, showing the sequence of a translation process with simultaneous picking up of different products and simultaneous depositing at different locations or on two separate pallets,

Fig. 9: a plan view of a manipulator with two different

Gripping heads in different positions, the process of a translation process with the simultaneous recording of various Show products as well as time- and position-offset settling in separate places, and

10 shows a plan view of a manipulator with two different

Gripping heads in various positions, showing the course of a translation process with a time and position offset recording of two different products and simultaneous settling on separate pallets or at different locations.

As FIG. 1 shows, a provisioning station 1 may comprise a supply table on which the containers 2 to be palletized are kept next to one another in a plurality of rows. The said provisioning station 1 can be loaded by a manipulator 3 in the form of a robot, which can take the container 2 from a pallet stack and unload the latter. In principle, however, the loading point 1 could also be supplied with containers in other ways, for example via one or more feed tracks or in another way.

The containers 2 provided on the provisioning station 1 can be gripped by the same manipulator 3 which loads the provisioning station with containers, or else by a second manipulator 4, then transferred to a palletizing station 5 and deposited on a pallet 6 held there or container layers already set thereon to make a pallet stack.

The loading, translating and unloading process can also be reversed or executed in the reverse direction and / or sequence. This applies not only to the process illustrated in FIG. 1, but also to the handling processes shown below in the further figures.

If two separate manipulators are provided for the stated tasks, ie filling of the provisioning station and translating / palletizing, the two manipulators 3 and 4 can in this case be essentially identical and each comprise a base part 6 which is mounted on a ground-level guide track 7 may be movably mounted along a Z-axis, said guide track 7 may be formed by a bottom rail or a guide member installed near the floor. The base parts 6 each comprise a Z-axis drive, by means of which they can be moved independently of one another in the direction of said Z-axis, wherein the two manipulators can be moved on the same ground-level guideway 7, but possibly also on separate guideways. As mentioned, however, only one manipulator 4 can take on both of these tasks, in particular unloading containers 2 from a supplied pallet stack and placing them on the provisioning station 1, and then interim storage, and then containers 2-possibly in a different grouping-reaching from the provisioning station 1 to the palletizing station translate and drop off there.

The said base part 6 advantageously forms an upright portal carrier, for example in the form of a post, and carries a cantilevered arm 8, which is movably mounted on the base part 6 along an upright Y-axis, so that the arm 8 can be raised and lowered. A lifting drive or Y-axis drive, for example in the form of a spindle drive or a cable drive, is provided for raising and lowering said boom 8.

The said boom 8 cantilevered advantageously transversely to the guideway 7 in a horizontal orientation freely from the base part 6.

At least two gripping heads 9 and 10 are mounted on said arm 8 of each manipulator 3 and 4, which are movably mounted in the longitudinal direction of the arm 8 and sweep over a working area which advantageously encloses an area adjoining the ground-level guideway 7 the said guideway 7 is located. The longitudinal axis of the boom 8 forms the X-axis, which extends transversely to the Z-axis and transverse to the Y-axis.

The gripping heads 9 and 10 can be movably mounted on the common boom 8 along a common guideway in said X-axis or be arranged on two separate guideways, so that the two gripping heads 9 and 10 are movable past each other or at least at the same height are mobile. Optionally, in this case the boom 8 may also be split or formed in the form of a Zweifinger- or Mehrfingergabel whose fingers are movable together on the base part 6 up and down and parallel to each other, next to each other cantilevered freely from the base part 6. In this case, each gripping head advantageously has its own X-axis drive, so that the gripping heads can be moved independently of one another in the direction of the X-axis.

The gripping heads 9 and 10 are each about an upright axis of rotation 11 and 12, which may extend in particular parallel to the Y-axis of the manipulator 4, by means of suitable rotary drives relative to the boom 8 rotatable, so that each gripping head 9 and 10 respectively in the direction the X-axis can be moved and rotated about an axis of rotation parallel to the Y-axis.

The manipulator 4 may have further axes of movement in the manner described above. For example, the base part 6 or its tower-like, upright support member on which the boom 8 is moved to be rotated about an upright, in particular Y-axis-parallel axis of rotation, with the boom 8 and the attached gripping heads on both sides of the Guideway 7 or to work on the guideway 7. For example, the boom 8 can be rotated or tilted relative to the base part 6, in particular about an axis of rotation parallel to the longitudinal axis of the boom 8 or parallel to said X-axis. The gripping heads can also be movable about further axes relative to the boom 8, as explained above.

As shown in FIG. 1, the manipulator 4 engages with each of its gripping heads 9 and 10 in each case a group of containers 2 from the provisioning station 1, so that several container groups are simultaneously transferred to the palletizing station 4. By moving the gripping heads 9 and 10 along the X-axis and / or twisting around the respective rotational axis 1 or 12, the package groups can be aligned in the desired manner and sold at the desired location on the pallet 13.

The gripping means on the gripping heads 9 and 10 may in principle be designed differently, for example suction or vacuum grippers and / or frictional clamping grippers.

As shown in FIG. 1, with the gripping heads 9 and 10 of the manipulator 4 also intermediate layers can be gripped by a Zwischenlagenbereitstellplatz 14 and inserted between each layer of layers to be coated.

Once a pallet 13 has been loaded, it can be removed from the palletizing station 5, for example via a traverse path 15 leading away from the manipulator 4 transversely to the Z-axis, for example in the form of a conveyor belt or a roller conveyor or the like.

Fig. 2 shows another embodiment of the device and its manipulator 4. Again, by means of a manipulator 3, a supply station 1 or a supply station 1 leading feeder loaded, the manipulator 3 basically corresponds to the embodiment of FIG. 1, but only one Gripping head 9 includes, see. FIG. 2. In addition, the underlying guideway 7 is aligned transversely to the guideway of the second manipulator 4, cf. Fig. 2. Again, the handling process can be reversed or executed vice versa, for example, to unload the feeder and to load the palletizing.

Said second manipulator 4 in turn comprises two gripping heads 9 and 10 which are movable on a common arm 8 in the direction of the X-axis and each about an upright pivot axis 11 and 12, so that in each case two groups of containers 2 time-parallel from the provisioning 1 can be translated to the palletizer 5. In the embodiment according to FIG. 2, two pallets 13 kept next to one another are thereby arranged in the sense of a Loading double pallet loading, the two pallets 13 are advantageously aligned symmetrically with respect to a median plane perpendicular to the X-axis of the boom 8, see. Fig. 2. In constructing a mirror-symmetrical layer image, which is divided on the two adjacent pallets 13 and with respect to the median plane which extends between the two pallets and is aligned perpendicular to the X-axis of the boom 8 of the manipulator 4, the two gripping heads work full time parallel to each other. Instead of the two separate pallets 13 shown in Fig. 2, however, a common, correspondingly large range can be loaded in the manner mentioned and the container 2 are sold by the two gripping heads 9 and 10 at different points of the then common range.

FIGS. 5 to 10 show further different possible uses of the manipulator 4. As shown in FIG. 5, a manipulator equipped with two identical gripping heads 9 and 10 can simultaneously produce two identical or even different products or piece goods 2 which are provided on two supply paths pick up and translate to the palletizing station and settle there on two separate pallets or load carriers or in general at different locations again at the same time. During translation, i. after recording and before discontinuation, the gripping heads 9 and 10 can be rotated with the piece goods located thereon or not rotated, depending on how the products are to be placed on the pallets.

The products symbolized by circles in FIG. 5 can be individual pieces or individual packages, but also bundle groups or rows or product groups or rows, for example in the form of food container groups or rows. A circle can thus symbolize a single item or a product group or series. This applies correspondingly to the other product symbols used in the other figures, in particular the circles used in FIGS. 6 to 10 and the triangles used in FIGS. 7 to 10, which also comprise individual products or containers or product groups or rows or bundle groups and symbolize rows. Different symbols, ie circle and triangle, symbolize different product or product types. It should be understood, however, that the embodiments may be varied in this regard and like products instead of dissimilar products and vice versa may be treated in an analogous manner.

Instead of the two separate pallets, only a correspondingly large pallet or a corresponding charge carrier can be used at the palletizing station 5, as shown by the dashed line in FIG. 5. Likewise, instead of the aforementioned two deployment paths, it is also possible to work with only one deployment path, such a deployment path - as well as the aforementioned two deployment paths - being able to be aligned parallel to the guideway 7 or also transversely, in particular perpendicular thereto, as indicated by the dashed line in FIG. 5 illustrates. Furthermore, it should be understood that the handling process shown in FIG. 5 may be reversed, or reversible, ie. the containers can be gripped at the palletizing station 5, placed over and set down on the supply tracks, for example to dissolve a pallet.

As shown in FIG. 6, with the manipulator 4, which comprises two identical gripping heads 9 and 10, in turn, two similar products or product lines, as symbolized by the circles, can be gripped simultaneously and simultaneously translated, in order to offset time and position at different locations or to be deposited on two separate load carriers or pallets. Again, during the translation phase, i. after recording and before discontinuation, a rotation or no rotation of the gripping heads 9 and 10 take place. Again, you can work with only one pallet and / or only one conveyor track, as shown by the dashed line, or the process can be performed reversed. In an analogous way but could not be handled similar products.

Fig. 7 shows a manipulator 4 with two differently shaped gripping heads 9 and 10, by means of which different products or product lines, symbolizes through the circles and triangles, as symbolized by the various geometric shapes circle and triangle. Again, two products are grabbed simultaneously and transferred after recording simultaneously to a palletizer, the settling can be done simultaneously and united on the common range. During the translation process, ie after recording and before discontinuation can be made a rotation or no rotation, depending on the arrangement in which the products are to be discontinued. Instead of different products, however, similar products or product groups or series can be treated accordingly, as is otherwise true of the other figures. Furthermore, in the embodiment according to FIG. 7 as well, two pallets can be used instead of the pallet shown only one and / or work with only one conveyor track. Likewise, the handling process can also be reversed here.

According to FIG. 8, with the manipulator 4 with two different gripping heads 9 and 10, two different products or product rows, symbolized by the circles and triangles, can be grasped and translated simultaneously and then deposited simultaneously and in parallel. Again, this can take place after recording and before weaning a rotation or no rotation. Again, the number of pallets and / or the conveying path number can be varied as described above or the process can be reversed. It is also possible to work with similar products or product ranges.

Fig. 9 illustrates an insert of the manipulator 4 with two different gripping heads 9 and 10, in which two different products or product lines, symbolized by the circles and triangles, are gripped and translated simultaneously, but then offset time and position offset. After recording and before settling, rotation or no rotation can take place during the translation process. Again, the pallet number and / or the conveying path number can be varied as described above or Process reversed. Likewise, you can work with similar products.

Finally, FIG. 10 illustrates an insert of the manipulator with two different gripping heads 9 and 10, in which different products or product lines, symbolized by the circles and triangles, are recorded in a time- and position-offset manner, then simultaneously translated and set down, whereby here as well the recording and before settling a rotation or no rotation can take place. In principle, the functional sequence shown in FIG. 10 for different products or a manipulator with different gripping heads can also be realized for a gripper with similar gripping heads, which can then grasp the same products with a time and position offset. Again, the number of pallets and / or the conveying path number can be varied as described above or the process can be reversed. You can also work with similar products or product lines.

The above embodiments are further variable, particularly in that, alternatively or in addition to that in the Z-axis, i. Parallel offset to the guide track offset is provided in the Y direction and / or an offset in the X direction at the receiving location and / or at the unloading, wherein such an offset by appropriate method of the gripping heads 9 and 10 along the X-axis or a Method of the boom along the Y-axis can be realized.

Claims

Device for loading a load carrier such as a pallet or the like

claims

1. A device for loading / unloading a load carrier such as pallet (13) or the like with piece goods (2), with a gripping device (16) which is arranged on a multi-axis manipulator (4), one along a horizontal, lying near the ground Z-axis movable base part (6) and on the base part (6) along an upright Y-axis movable boom (8) on which the gripping device (16) is mounted, characterized in that the gripping device (16) at least two on the boom ( 8) arranged gripping heads (9, 10) which are arranged on the boom (8) in each case along an X-axis movable.

2. Device according to the preceding claim, wherein the at least two gripping heads (9,10) on the boom (8) in each case about at least one axis of rotation (11, 12) are rotatably arranged.

3. Device according to the preceding claim, wherein the gripping heads (9, 10) each have their own, parallel to the Y-axis of rotation (11, 12) are rotatably arranged and are rotatable independently of each other by means of rotary actuators.

Device according to one of the two preceding claims, wherein the gripping heads (9, 10) in each case about a Z-axis parallel tilting axis and / or arranged about a pivot axis parallel to the X-axis and pivotable by means of tilting / swivel drives, preferably independently, tiltable / are pivotable.

Device according to one of the two preceding claims, wherein the gripping heads (9, 10) in the direction of the X-axis along a common guide track on the boom (8) are movably mounted.

Device according to one of claims 1-4, wherein the gripping heads (9, 10) in the direction of the X-axis each along a separate guideway on the boom (8) are movably mounted, wherein the guideways are arranged parallel to each other side by side such that the gripping heads (9, 10) are movable past each other in the direction of the X-axis.

Apparatus according to any one of the preceding claims, wherein the X-axis is oriented transverse to the Z-axis and transverse to the Y-axis.

Device according to one of the preceding claims, wherein the base part

(6) forms a standing portal, which is on the lower guideway

(7) is movable along the Z-axis and carries the arm (8) which is mounted on the base part (6) liftable and lowerable and cantilevered from the base part (6) transversely to the Z-axis, wherein the gripping heads (9 and 10 ) are arranged suspended under said boom (8).

Device according to one of the preceding claims, wherein the two gripping heads (9, 10) differently designed gripping means for gripping various types of piece goods or for gripping piece goods and intermediate layers.

10. Device according to one of the preceding claims, wherein the two gripping heads (9, 10) have different numbers and / or differently oriented rotational and / or tilting and / or pivot axes.

11. Device according to one of the preceding claims, wherein at least one of the gripping heads (9, 10) replaceably mounted, in particular tool-free interchangeable gripping means comprises.

12. Device according to one of the preceding claims, wherein a control device for controlling the method of the gripping heads (9, 10) is provided and formed such that with the help of the at least two gripping heads (9, 10) at least two piece goods or at least one piece goods in connection with an intermediate layer at the same time from a staging area (1) at which the piece goods and / or the intermediate layer are gripped, to a loading place (5) at which the piece goods and / or the intermediate layer are deposited on the carrier, be translated simultaneously.

13. Device according to the preceding claim, wherein the control device is designed such that the at least two gripping heads (9, 10) perform the gripping operation on the supply space (1) and / or the settling process at the loading place (5) simultaneously.

14. Device according to one of the preceding claims 1-13, wherein the control device is designed such that the at least two gripping heads (9, 10) perform the gripping operation on the supply space (1) and / or the settling process at the loading place (5) successively.