Method for detaching stack of partial stacks of flat products

Abstract

The invention relates to a method for detaching a stack of partial stacks of flat products, in which geometric data of the stack and / or of the partial stacks are optically captured, the partial stacks are picked up from the stacks individually or in groups in sequence using a robotic arm that can be moved in a controlled manner and using geometric data for the movement control of the robotic arm. At least one of the partial stacks is provided with a code printed on the upper flat product of the partial stack, which code is optically captured by a capture device, in which code geometric data is stored and read for motion control of the robot arm, and / or in which code identification data for geometric data is stored and read for motion control of the robot arm. And invoking geometric data stored in a digital memory in correspondence with the identification data for motion control of the robot arm. According to the invention, stacks formed by partial stacks of flat products can be quickly, safely and accurately disassembled without errors, and the partial stacks can also be well conveyed to subsequent processing links.

Description

Technical Field

[0001] This invention relates to a method for disassembling a stack consisting of partial stacks of flat products.

[0002] This invention belongs to the technical field of the graphics industry, and particularly relates to the manipulation (e.g., grasping, holding, picking up, moving and placing) of stacks consisting of stacked, flexible, preferably printed and folded flat products (e.g., printed sheets or brochures), said products preferably made of paper, cardboard, paperboard, plastic or composite materials; using manipulators, particularly robots with robotic arms and grasping devices for stacking; for example, during palletizing and depalletizing. Background Technology

[0003] In printed materials production, particularly in the field of cardboard packaging, it is known to stack multiple flat products, partially stacked, onto (transport) pallets at one workstation, and then unstack or destacking them after transport to another workstation. When constructing the (total) stack, a selected construction scheme is typically used, which specifies the position and orientation of the partial stacks across all layers of the stack. Stacking and destacking can be done manually, but this is very laborious and puts a heavy strain on the back; therefore, robots are increasingly used because both tasks must be completed very quickly.

[0004] Technical solutions in the field of depalletizing or dismantling stacks are known. US201300170053A1 and DE69305122T2 each disclose an apparatus for removing partial stacks of flat products, wherein the partial stacks are sequentially picked up from the stack by a controlled, movable robotic arm, the movement of which is controlled by data generated by sensors. DE69305122T2 allows for the removal of the partial stack even if it deviates slightly from its theoretically correct position.

[0005] JP2019151421A discloses a depalletizing robot that collaborates with a sensor system next to the stack to perform depalletizing. US20150203304A1 discloses something similar, but the sensor system is located above the stack. DE102022129021A1 uses a digital segmentation method in addition to the sensor system above the stack.

[0006] Sensing the geometry of stacks and / or partial stacks can be difficult because there are sometimes complex geometries (e.g., due to the construction scheme used) and large dimensions.

[0007] During depalletizing, issues may arise where partial stacks of flat products, constructed according to a build plan, are disrupted during transport to the (subsequent processing) machine, such as partial stack displacement. It's also possible for all partial stacks to be mispositioned on the pallet, for example, if the pallet was not correctly placed during stack construction. Conversely, improper pallet placement during depalletizing can also lead to mispositioning of partial stacks. Furthermore, an incorrect build plan may have been used. Such errors can cause depalletizing problems.

[0008] Technical solutions are also known in the field of marking printed products. DE102005037497A1 discloses a method for marking individual printed sheets using a machine-readable unique code, such as a two-dimensional barcode. Sheets thus encoded can be rejected in subsequent processing machines, such as carton gluing machines, when errors (e.g., erroneous images) occur. The information value of a single code can be associated with error information, and the corresponding data can be transmitted to the data processing equipment of the subsequent processing machine via data cables, data storage devices, etc.

[0009] Manufacturers of graphic products—that is, printing plants with prepress, actual printing, and postpress processing stages—are constantly looking for improvements, namely, increasing production speed while maintaining or even improving product quality. The same is true in the manufacturing of folding boxes, where folding box blanks are produced (printed and die-cut) and stacked, then the stacks are broken down into partial stacks, which are subsequently processed in folding box gluing machines. Summary of the Invention

[0010] Therefore, one object of the present invention is to provide an improvement over the prior art, in particular enabling the rapid, safe, accurate and error-free disassembly of a stack consisting of partial stacks of flat products, and equally rapidly, safely, accurately and error-free transport of the partial stacks to subsequent processing stages.

[0011] According to the present invention, this task is solved by a method having the features of the preferred technical solution of this application.

[0012] This invention proposes a method for disassembling a stack consisting of partial stacks of flat products, wherein geometric data of the stack and / or partial stacks are optically acquired, and the partial stacks are sequentially picked up individually or in groups from the stack using a controllable robotic arm and with the geometric data used for the motion control of the robotic arm. The method is characterized in that at least one partial stack has a code printed on the upper or top flat product of the partial stack, which is optically acquired by an acquisition device. Geometric data is stored in the code and read for the motion control of the robotic arm, and / or identification data for the geometric data is stored in the code and read, and geometric data corresponding to these identification data is stored in a digital memory for the motion control of the robotic arm.

[0013] Advantageous and therefore preferred extensions of the invention can be derived from the alternative technical solutions, the specification, and the accompanying drawings.

[0014] Advantageous extensions and effects of the present invention This invention advantageously enables the rapid, safe, precise, and error-free disassembly of stacks consisting of partial stacks of flat products, and equally rapidly, safely, precisely, and error-free transport of these partial stacks to subsequent processing stages. In particular, this invention reduces the workload of sensing stacks consisting of partial stacks. This invention is used, for example, for feeding folding box gluing machines.

[0015] In this application, the term "encoding" should be understood as follows: the encoding is generated by printing technology and is therefore a physically existing feature, such as a QR code or barcode, and is produced, for example, by offset or inkjet printing. The encoding is visible and therefore can be optically acquired. Data stored in the encoding means, for example, that data is contained in a QR code or barcode and can therefore be read from it, or that a unique identifier (ID, such as a numerical sequence) is stored in the encoding, and the data associated with that identifier is stored in digital memory, such as in a corporate network, and can be retrieved from there by that identifier.

[0016] Extension of the present invention Preferred extensions of the invention are described below. These extensions can also be combined with each other as long as they are not technically mutually exclusive.

[0017] One extended solution is characterized by a pre-defined coordinate system comprising an X-axis, a Y-axis, and a Z-axis, wherein the X-axis and Y-axis together define a horizontal plane, and the Z-axis defines a vertical axis. It can be specified that the upper flat product is placed horizontally, and that the actual X-position and actual Y-position of the code are also acquired during encoding, such as the center of the code, a predetermined corner, or a specific pattern. It can be specified that the actual X-position and actual Y-position of the code are determined from the XY position of the acquisition device, which is movable at least in the X and Y directions, during encoding. For this purpose, for example, the acquisition device is moved to a target window pre-defined for the code to be found, and the code is optically searched there, preferably by digital image processing. Therefore, it can be specified that the actual X-position and actual Y-position of the code are determined from the XY position of the acquisition device, which is movable at least in the X and Y directions, during encoding, and from the acquired image. Alternatively, it can be specified that the actual X-position and actual Y-position of the code are determined from images captured by a fixedly mounted acquisition device.

[0018] One extended approach may involve acquiring the actual angle of the code during acquisition; preferably relative to a predetermined direction in the horizontal plane or about a vertical axis. It may be specified that, in order to acquire the actual angle, the code and at least one other code on the upper product are acquired, wherein these codes are arranged at a predetermined spacing from each other. The actual angle can then be determined from the relative orientation of the two codes using computational techniques. It may be specified that the code and the other code are acquired simultaneously, for example, in a common image of the acquisition device.

[0019] One extension may feature that the upper flat product is placed horizontally, and the geometric data of the flat product being read or retrieved includes the target X-position and target Y-position for the upper flat product and thus the portion of the stack to which it belongs. It may be specified that the geometric data of the flat product being read or retrieved includes the target angle for the upper flat product and thus the portion of the stack to which it belongs.

[0020] One extended solution may feature the use of actual X position, actual Y position, target X position, and target Y position to check, through computational techniques, whether the upper flat product and therefore its associated portion of the stack are correctly positioned. It may further specify the use of actual angles and target angles to check, through computational techniques, whether the upper flat product and therefore its associated portion of the stack are correctly aligned in the horizontal plane.

[0021] One extended approach is characterized by acquiring a first code of a first portion of the stack at a first location and, using computational techniques, checking whether the association between the first code and the first location is correct or incorrect, taking into account predetermined positional tolerances, using geometric data stored in or retrieved from the first code. This allows checking whether a correct code has been found, or whether other codes exist at the first location. Here, the first location can be a target window, i.e., an area with a predetermined range in the X and Y directions (this also applies to other locations mentioned in this application). It can then be specified that, if the check is correct, the first portion of the stack is picked up from the stack. It can then be further specified that, if the check is correct, at least one second code of the second portion of the stack is acquired at a second location and the second portion of the stack is picked up; the same applies to other portions of the stack. Conversely, it can be specified that, if the check is incorrect, a third code of the third portion of the stack is acquired at a third location, using geometric data obtained from the first code and / or using a construction scheme. Therefore, if an incorrect code is identified at a search location, it can be read and the information contained therein can be used to determine the location of the correct code, since, for example, the positional relationship between the codes is known from the construction scheme. It can be specified that the third portion of the stack is picked up from the stack.

[0022] One feature of the extended scheme may be that additional information is stored in the code and / or additional information correspondingly stored in digital memory regarding the identification data is retrieved. This additional information may be specified as follows: external contour data of the partial stack; dimensional data of the partial stack; data on the construction scheme used; positioning data of the partial stack in the horizontal plane; relative positioning data of all partial stacks in the horizontal plane; positioning data of the code relative to the flat product in the horizontal plane; positioning data of the horizontal intermediate layers between the horizontal layers of the partial stack; identification data of the production order (so-called job ID); basic type data of the folding box made from the flat product in subsequent processing; deviation data from the basic type; data on the center of gravity position of the partial stack; contact point data of the partial stack that can or should be gripped; material and / or material property data of the flat product; data of the gripping tool; and / or data on the predetermined direction in which the gripping tool grips the partial stack. This additional information may then be specified, for example, individually or in combination, to set preset values ​​for the gripping tool used to grip individual partial stacks; such as gripper opening, gripper posture, or specific gripper movement during gripping.

[0023] One extension scheme may feature multiple codes for each part of the stack; for example, two, three, four, or more. It may be specified that the geometric data of a part of the stack is distributed across multiple codes for that part of the stack; this takes into account that only a specific amount of data can be encoded in a given code, such as in a QR code of a given size. It may be specified that the geometric data of a part of the stack is distributed across multiple codes for the upper flat product of that part of the stack. It may also be specified that the other information is distributed across multiple codes for the upper flat product of that part of the stack. It may be specified that multiple codes are acquired simultaneously. It may be specified that multiple codes are captured in a common image; and preferably separated and then read through digital image processing.

[0024] One extended solution is characterized in that each flat product in each stack is equipped with at least one printed code. The code can be specified to be printed at a predetermined location on the flat product; preferably outside the actual printed image, and more preferably within an adjacent printing control strip. The code can be specified to be printed on the adhesive flap of the undisturbed flat folding box blank. The code can be specified to be generated by offset printing or other plate-dependent printing processes. Selected flat products are equipped with printed codes. The code can be specified to be generated by a digital printing process. The code can be specified to be digitally generated in the prepress stage and provided for printing. The code can be specified to be provided first as a digital QR code and then generated through printing.

[0025] One extended embodiment features a collection device mounted on a robotic arm. Specifically, the collection device may be mounted on a gripping tool of the robotic arm used for grasping individual portions of a stack.

[0026] One extension may feature that the stacks are arranged on pallets. The pallets may be positioned at a workstation, such as a depalletizing station. Part of the stack may be moved to a workstation downstream of this workstation; for this purpose, a movable robotic arm is used. Part of the stack (preferably by robot) may be placed into the downstream workstation for further processing. The downstream workstation may be a folding box gluing machine.

[0027] One extension may be characterized in that the stack consists of multiple layers of partial stacking, wherein each layer is separated by an intermediate layer. It may be specified that the intermediate layer is formed of a cardboard surface.

[0028] One extension scheme may feature that the data acquisition device includes an optical sensor. Another extension scheme may feature that the data acquisition device includes an optical camera.

[0029] The technical features disclosed in the above-described technical field, invention and extensions section and embodiments section can be considered as combinations of features derived from this application, representing other advantageous extensions of the invention. Attached Figure Description

[0030] Figures 1 to 7 Preferred embodiments of the invention and its extensions are shown. Corresponding features are indicated by the same reference numerals in the figures. For clarity, repeated reference numerals are omitted in the figures.

[0031] Figure 1 A side view schematic diagram of a stack consisting of partial stacks to be processed according to the present invention is shown.

[0032] Figure 2 A top view schematic diagram of a stack consisting of partial stacks to be processed according to the present invention is shown.

[0033] Figure 3 A side view schematic diagram of a partially stacked stack with misalignment to be processed according to the present invention is shown.

[0034] Figure 4 A top view schematic diagram of a flat product with a code to be processed according to the present invention is shown.

[0035] Figure 5 A top view schematic diagram of another coded flat product to be processed according to the present invention is shown.

[0036] Figure 6 A side view schematic diagram of a preferred apparatus for carrying out a preferred embodiment of the method of the present invention is shown.

[0037] Figure 7 A flowchart illustrating a preferred embodiment of the method of the present invention is shown. Detailed Implementation

[0038] Figure 1 The diagram shows a stack 1 consisting of a partial stack 2 and other partial stacks, wherein the partial stacks are formed from flat products 10, such as stacked folding box blanks 10. Here, the partial stacks can be arranged vertically across multiple layers 5 of the stack 1 and separated from each other by intermediate layers 6 (e.g., cardboard surfaces). Each partial stack 2 includes an upper flat product 11. The stack 1 is preferably arranged on or constructed on a pallet 7. The diagram also shows the horizontal X direction 40 and the vertical Z direction 42.

[0039] exist Figure 2The same stack 1 is shown in the figure. It can be seen that the flat products 10 can have edges with complex shapes, which is why it is crucial to accurately position the partial stacks 2, 3, 4, and other partial stacks before picking them from stack 1 or pallet 7, i.e., their position (X and Y values, and possibly Z values) and orientation (angle values ​​in the XY horizontal plane relative to a predetermined direction). The horizontal Y direction 41 and thus the horizontal plane 43 are also visible from the figure. Each partial stack 2, 3, and 4, and the other partial stack, is located at specific positions 2a, 3a, and 4a in the horizontal plane 43, respectively. Here, the partial stacks can be in the correct position, i.e., where they should be (within a given tolerance). Due to displacement or other disturbances during transport of the loaded pallet 7, a partial stack or individual or multiple flat products 10 within a partial stack may be in the wrong position, i.e., not where they should be. Such mispositioning is exemplarily shown in… Figure 3 As can be seen: in the lower region of stack 1, a single flat product 10 in a portion of the stack has shifted; in the upper region of stack 1, a portion of stack 2 has tilted and thus (viewed from the side) deformed into a parallelogram.

[0040] exist Figure 4 The diagram shows a single flat product 10, in this case a folded box blank. This product 10 is the upper flat product 11 of a partial stack 2 and exemplarily includes multiple adhesive flaps 12. On one of the adhesive flaps 12, a (first) code 20, such as a QR code, is printed during a previous printing process. This code preferably stores geometric data 21, or alternatively, identification data 22 for the geometric data 21. An optical acquisition device 37, such as a sensor or camera, located at XY position 50, is used to optically acquire the code 20. It is preferable that the acquisition device 37 is movable at least in the horizontal plane (see double arrow 38). For example, the acquisition device 37 can be moved to the intended location of the code 20 using a predetermined positioning of the entire stack 1 and the thus known target position value of the code 20, to acquire it at that location or in the area surrounding that location. During optical acquisition, the actual X position 44, the actual Y position 45, and optionally the actual angle 46 are acquired and provided for further processing using computational techniques. In practice, code 20 may not be exactly in the expected position, but rather shifted and / or rotated relative to it. This means that when optically acquiring code 20, the actual value acquired will typically deviate from the target value beyond the predetermined tolerance. In the example shown, code 20 is neither at the target X position 47 nor the target Y position 48, but has been shifted. However, the angular direction is consistent, i.e., the target angle 49 coincides with the actual angle 46.

[0041] exist Figure 5As can be seen, on the upper flat product 11, in addition to the first printed code 20, there may be at least one other printed code 23, thus totaling multiple (at least two) codes 25. The two codes 20 and 23 are preferably printed with a predetermined spacing 24 between them. Printing and thus providing multiple codes 25 particularly facilitates the optical acquisition of the angular direction of the upper flat product 11: for example, for this purpose, two codes 20 and 23 (simultaneously or sequentially) are optically acquired, and the angular position of the upper product 11 can be determined from the connecting line between the two codes, determined by calculation, and the accuracy of that angular position can be verified by calculation. Here, the larger the predetermined spacing 24, the more accurate the verification.

[0042] exist Figure 6 The diagram shows a robot 30, preferably an articulated robot or a so-called collaborative robot, with a controlled movable robotic arm 31 and a controlled, activatable gripping tool 32 for partial stacks 2. A pallet 7 loaded with stacks 1 is located at station 8. From there, individual partial stacks 2 should be moved to a downstream station 9, for example, to a folding box gluing machine, where further processing is performed. The robot 30 is preferably positioned between two stations 8 and 9 for this purpose and is capable of picking up individual partial stacks 2 and moving them from station 8 to station 9. Control of the robot 30 is performed by a digital computer 33 with a digital memory 34. The memory 34 preferably stores a construction scheme 35. The construction scheme 35 describes how the stack 1 is constructed from the partial stacks 2 in the horizontal and vertical directions. In addition, preset values ​​36 for the gripping tool 32 can be stored, such as taking into account the vertical height and / or horizontal depth of the individual partial stacks, and accordingly setting the opening and closing degree of the gripping tool and its forward and backward movement. Based on this configuration, the control computer 33 can move the gripping tool 32 to a gripping position next to its respective part of the stack 2. However, corrections may be necessary in this process if the optical acquisition device 37 identifies that a part of the stack 2 or even multiple parts of the stack are not in the expected position. To this end, the computer 33 acquires the acquired digital image 39 from the acquisition device 37 and uses computational techniques to derive the actual position value and optional actual angle value for target-to-actual comparison; in the target-to-actual comparison, the necessary corrections are derived from these values.

[0043] Figure 7 The flowchart shown illustrates the following method steps: Step 100: Method for dismantling the stack. This step represents the entire method with all its sub-steps 110 to 200.

[0044] Step 110: Provide stacks, partial stacks, and codes. In this step, stack 1 and its partial stacks 2, 3, and 4, along with preferably printed codes 20, 23, and / or 25, are provided (physically) for subsequent steps, such as on (transport) pallets 7.

[0045] Step 120: Optical Acquisition Encoding. In this step, at least one encoding 20 (or multiple encodings 25) of the upper flat product 11 is optically acquired, preferably using an existing optical acquisition device 37 (e.g., a sensor or camera). The acquisition device 37 can acquire the entire stack 1 and all its upper partial stacks (e.g., from above), or it can be configured to move to one or more locations using the construction scheme 35 and acquire one or more encodings there. If there are multiple partial stacks and therefore multiple encodings at the top layer of stack 1, all these encodings can be acquired in a common image, or a subset can be acquired in a common image, or they can be moved sequentially to the respective encoding locations and acquired individually.

[0046] Step 125: Optically acquire the actual X and actual Y positions of the encoded data. In this step, the actual X position 44 and actual Y position 45 of each of the at least one encoded data 20 (or multiple encoded data 25) are optically acquired. The acquired values ​​can then be used for further computational processing.

[0047] Step 130: Read geometric data. In this step, geometric data 21 is read from at least one code 20 (or from multiple codes 25) using computational techniques. These values ​​can therefore also be used for further computational processing.

[0048] Step 140: Read the identification data; and Step 145: Retrieve the geometric data. These two steps constitute an alternative to Step 130. Here, the geometric data 21 is not read directly from the at least one code 20 (or from multiple codes 25), but rather the identification data 22 is read, and the geometric data 21 stored corresponding to these identification data 22 is retrieved from its digital storage location. Therefore, these values ​​can also be used for further computational processing.

[0049] Step 150: Check the correct positioning of the code. In this step, using the values ​​provided in the previous steps, the code 20 is checked by calculation techniques to ensure that it is correctly positioned in the XY horizontal plane, i.e., whether the target position and the actual position are within the given tolerance range.

[0050] Step 155: Check the correct alignment of the code. In this optional step, in addition to checking the positioning along the X and Y directions as in step 150, the angular position in the XY horizontal plane is also checked for correctness (within the given tolerance) using calculation techniques.

[0051] Step 160: Check the correct association (encoding and encoding location). In this step, computational techniques are used to check whether the acquired encoding 20 is the encoding that should exist at the acquisition location, i.e., to check whether other encodings have been acquired.

[0052] Step 170: Correction. In this optional step, if an error is detected in at least one of the preceding steps 150, 155, and 160, correction is performed. If the code 20 being sought is not in the correct position, but is, for example, slightly displaced and / or slightly rotated, the acquired actual values ​​can be used to control the movement of the robot arm 31. If another code exists at the target location of code 20, computational techniques can be used to determine where code 20 must be located, and these values ​​can be used to control the movement of the robot arm 31; for example, the tray 7 may have been incorrectly rotated 90°, 180°, or 270°.

[0053] Step 180: Control the movement of the robot arm. In this step, the robot arm 31 is moved to a portion of the stack 2, where the target position value or the position value obtained through correction is used during control.

[0054] Step 190: Pick up a portion of the stack. In this step, a portion of the stack 2 is picked up by the gripping tool 32 on the robotic arm 31, then removed from the stack 1. Preset values ​​for the gripping tool can also be used here; for example, the gripping tool can be opened according to the height of the portion of the stack to be gripped.

[0055] Step 195: Pick up the second or third (or additional) portion of the stack. In this optional step, instead of picking up the first portion of the stack 2, another portion of the stack 3 or 4 is picked up. To do this, the robotic arm 31 is moved to the corresponding portion of the stack 3 or 4. This step is performed when an error is detected in step 160. The movement of the robotic arm 31 to the portion of the stack to be picked up can be planned based on the existing geometry and, where possible, the construction scheme being used.

[0056] Step 200: Loop. In order to dismantle the entire stack 1, all its parts must be gripped and picked up by the robotic arm 31 or its gripping tool 32. To do this, repeat steps 120 to 190 or 195 until the last part of the stack is picked up.

[0057] List of reference numerals in the attached diagram: 1. Stacking 2. First part of stacking 2a First position 3. Second part: stacking 3a Second position 4. Third part: stacking 4a Third position 5. Stacking layers 6. Intermediate layer 7 trays 8 workstations (pallet positions) 9. Downstream stations, such as folding box gluing machines 10. Flat products, such as folding box blanks 11. Flat-top products, especially folding box blanks 12 Adhesive placket 20 (First) Printed codes, such as QR codes 21 Geometric Data 22. Identification data (used for geometric data) 23 Other printing codes 24. Spacing between the two codes More than 25 codes 30 robots 31 robotic arms 32 Scraping Tools 33 (Digital) Computer 34 (Digital) Memory 35 Construction Scheme 36. Preset values ​​for the grabbing tool 37 Optical acquisition devices, such as sensors or cameras 38. Movement of the data acquisition device 39 Images acquired 40 X-axis, X direction 41 Y-axis, Y direction 42 Z-axis (vertical axis), Z direction 43 Horizontal plane 44-bit encoding actual X position 45. Actual Y position of the encoding 46. ​​Actual angle of encoding 47. Encoded target X position 48. Target Y position of the encoding 49. Target Angle of Encoding 50 XY position of the data acquisition device 100 Methods: Dismantle the stack 110 provides stacking, partial stacking, and coding. 120 Optical Acquisition Encoding 125 Actual X and actual Y positions of optical acquisition encoding 130 Read geometric data 140 (or) Read identification data 145 (or) call geometric data 150 (Optional) Check the correct positioning of the code. 155. Check the correct alignment of the encoding. 160. Check for correct associations (encoding and encoding location). 170 (optional) corrections 180 Controlling the movement of the robot arm 190 Pick up part of the stack 195 (or) Pick up the second or third part of the stack. 200 cycles.

Claims

1. A method for disassembling a stack (1) consisting of partial stacks (2, 3, 4) of flat products (10), wherein geometric data (21) of the stack (1) and / or the partial stacks (2, 3, 4) are optically acquired, and wherein the partial stacks (2, 3, 4) are sequentially picked up, individually or in groups, from the stack (1) using a controllable robotic arm (31) and with motion control of the robotic arm (31) using the geometric data (21), characterized in that, At least one partial stack (2, 3, 4) is provided with at least one code (20) printed on the upper flat product (11) of the partial stack (2, 3, 4). The code (20) is optically acquired by the acquisition device (37), and The geometric data (21) is stored in the encoding (20) and read for motion control of the robotic arm (31), and / or Identification data (22) for the geometric data (21) is stored in the code (20) and read, and the geometric data (21) stored in the digital memory (34) corresponding to these identification data (22) is invoked for motion control of the robot arm (31).

2. The method according to claim 1, characterized in that, The upper flat product (11) is placed horizontally, and when the code (20) is collected, the actual X position (44) and actual Y position (45) of the code (20) are also collected.

3. The method according to claim 2, characterized in that, When acquiring the code (20), the actual angle (46) of the code (20) is also acquired.

4. The method according to claim 2 or 3, characterized in that, The upper flat product (11) is placed horizontally, and the geometric data (21) of the upper flat product (11) that is read or called includes the target X position (47) and target Y position (48) for the upper flat product (11) and the corresponding partial stacks (2, 3, 4).

5. The method according to claim 4, characterized in that, The geometric data (21) of the upper flat product (11) that is read or called includes the target angle (49) for the upper flat product (11) and the corresponding partial stacks (2, 3, 4).

6. The method according to claim 4 or 5, characterized in that, The actual X position (44), the actual Y position (45), the target X position (47), and the target Y position (48) are used to check, by computational techniques, whether the upper flat product (11) and the corresponding portion of the stack (2, 3, 4) are correctly positioned.

7. The method according to claim 6, characterized in that, The actual angle (46) and the target angle (49) are used to check by calculation whether the upper flat product (11) and the associated partial stacks (2, 3, 4) are correctly aligned in the horizontal plane (43).

8. The method according to any one of the preceding claims, characterized in that, The first code (20) of the first part of the stack (2) is acquired at the first position (2a), and the association between the first code (21) and the first position (2a) is checked by computational techniques, taking into account predetermined position tolerances, using geometric data (21) stored in the first code (20) or called geometric data (21).

9. The method according to any one of the preceding claims, characterized in that, The encoding (21) stores additional information and / or retrieves additional information stored in the digital memory (34) corresponding to the identification data (22).

10. The method according to claim 9, characterized in that, The aforementioned additional information is used to determine the preset value (36) of the gripping tool (32) for gripping individual part stacks (2, 3, 4).

11. The method according to any one of the preceding claims, characterized in that, There are multiple codes (20, 23, 25) for each part stack (2, 3, 4).

12. The method according to claim 11, characterized in that, Multiple codes (20, 23, 25) were collected simultaneously.

13. The method according to any one of the preceding claims, characterized in that, The code (20) is printed on the flat product (2, 3, 4) at a predetermined position.

14. The method according to claim 13, characterized in that, The code (20) is printed on the adhesive flap (12) of the flattened folding box blank (11) that has not yet been folded.

15. The method according to any one of the preceding claims, characterized in that, The code (20) is provided and printed as a digital QR code.

16. The method according to any one of the preceding claims, characterized in that, The acquisition device (37) is arranged on the robot arm (31).

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