Method and device for handling individual intermediate layers

Abstract

Device (1) for handling individual intermediate layers (5) of an intermediate layer stack (7), comprising - At least one manipulator (11) for separating a single intermediate layer (5) from the intermediate layer stack (7) and transferring the intermediate layer (5) to a destination (ZO), - At least one sensor (16) by means of which a rotational position of the individual intermediate layer (5) can be detected, - A control device (S) which is connected to the at least one manipulator (11) and the at least one sensor system (16), wherein the control device (S) can predetermine a movement of the intermediate layer (5) via the at least one manipulator (11) taking into account the detected rotational position in such a way that the intermediate layer (5) reaches the target location (ZO) with a predetermined rotational orientation, wherein the at least one manipulator (11) is designed to deposit an intermediate layer (7) on a pallet arranged at the target location (ZO).

Description

The present invention relates to a method and an apparatus for handling individual liners.Automated palletizing apparatuses are already known from the prior art, which arrange a plurality of articles on a pallet and finally enclose the articles of the respective pallet by means of stretch film.In such pallets, a plurality of layers of articles are preferably arranged one above the other on the respective pallet in order to be able to place a large number of articles on the respective pallet. The articles can be formed, for example, by containers with a plurality of beverage containers. Articles of this type frequently have a complex geometry, so that stacking with a plurality of layers is not always possible without associated problems with regard to the stability of the entire pallet assembly. In particular during the transport of the pallet, it is necessary to be able to ensure a certain stability for the pallet assembly in order to be able to prevent the respective articles from tilting with certainty.In order to increase the stability of the pallet assembly or in order to be able to ensure sufficient stability for the pallet assembly, it is known from the prior art to provide so-called intermediate layers for articles standing on top of one another. Such intermediate layers can extend at least approximately over the entire pallet width, so that all articles stand on such an intermediate layer. Known intermediate layers are formed, for example, from paper, cardboard, cardboard, corrugated board or similar materials. Due to its rigidity, a stable support surface for article layers arranged one above the other is provided by means of the intermediate layers. It can also be that a plurality of intermediate layers are provided for one plane of the pallet or that one plane of the pallet is formed by a plurality of intermediate layers on which the articles stand.For automated palletization processes, it is necessary for intermediate layers to be available quickly and in large numbers. Thus, intermediate layer stacks are known which comprise a plurality of such intermediate layers.Before the respective intermediate layers are placed on the pallet, it is necessary to separate individual intermediate layers from the stack or separate the intermediate layers. For this purpose, a large number of devices are known from the prior art, by means of which individual intermediate layers are separated from a stack in this way.For example, such a device is disclosed in DE 10 2004 031 301 A1. In the device of the DE patent application, a stack of intermediate layers is provided and picked up by a gripper with suction cups. The intermediate layer is then lifted by the gripper and deposited on the respective pallet. After placing, the gripper is moved back in order to pick up the next intermediate layer.DE 10 2013 101 086 A1 additionally discloses a palletization device with which multipack layers are stacked one above the other on a pallet. The layers are fed via a horizontal conveyor device to a conveying and / or depositing device which serves for handling and transferring the layers to the stacking location. The palletization device also comprises a feeding and insertion device which serves for feeding intermediate layers to the stacking location and for depositing the individual intermediate layers on an upper side of a previously deposited bundle layer.Furthermore, DE 10 2008 054 813 A1 discloses a sheet feeder with a sheet stack placed on a stack lifting plate. On an upper side of the sheet stack, lifting suckers, drag suckers and a button foot are provided, which are accommodated in a sheet separator. In the sheet feeder, a detection unit is provided which is designed to detect the actual position of the sheet held by the lifting suckers. The detected actual position can be adapted to a desired position.Practice has shown that individual intermediate layers of the stack can lie on top of one another in a rotated manner or, in particular after several successive removals of individual intermediate layers from the stack, are no longer aligned completely flush with one another. If the intermediate layer is then placed on the pallet, its position cannot exactly coincide with a desired position provided for the respective intermediate layer, since the respective gripper follows a specific and uniform movement path until the intermediate layer is deposited on the pallet. It may also be that the intermediate layer is rotated or not exactly taken up by the gripper, which is likewise associated with inaccurate positioning on the respective pallet. A complete stack of intermediate layers can also be positioned inaccurately, so that the gripper, when it takes on a single layer and follows the specific movement path, sets the single layer inaccurately on the pallet. Pallets where the shims are incorrectly positioned may tend to be unstable.An object of the present invention can therefore be seen in the provision of a method and a device which contribute to the exact positioning of intermediate layers on associated pallets. The device should also have an uncomplicated construction. Furthermore, the method should be able to be implemented in a simple manner.The above objects are achieved by an apparatus and a method comprising the features in claims 1 and 7. Further advantageous embodiments are described by the dependent claims.The invention relates to a device for handling individual intermediate layers of an intermediate layer stack. The device comprises at least one manipulator for separating an individual intermediate layer from the stack of intermediate layers and transferring the intermediate layer to a target location.It is conceivable here for the at least one manipulator to comprise one or more movable suction and / or gripping devices for separating individual intermediate layers from the stack of intermediate layers. In preferred embodiments, the one or more movable suction and / or gripping devices can separate individual intermediate layers from the stack of intermediate layers and move them in the direction of a transfer location from which the intermediate layers are received via a handling device described below. The handling device can transfer the intermediate layers to the destination after receiving.At the target location or in the region of the target location, a pallet can be arranged on which the at least one manipulator or the handling device can deposit intermediate layers. In conceivable embodiments, the one or more movable suction and / or gripping devices can comprise clamping elements which grip the intermediate layer already separated from the intermediate layer stack and then possibly pull it in the direction of the transfer location. In this case, the one or more movable suction and / or gripping devices or the clamping elements can execute a linear movement.Furthermore, the device comprises at least one sensor system, by means of which a rotational position of the individual intermediate layer can be detected. The at least one sensor system can comprise a camera system, for example, in order to optically recognize the rotational position of the individual intermediate layer. In preferred embodiments, a detection region of the at least one sensor system can be positioned in such a way that individual intermediate layers pass the detection region during their transfer from the intermediate layer stack to the target location. It is also conceivable that the detection region of the at least one sensor system extends at least partially over the intermediate layer stack, so that a rotational position of an intermediate layer that has not yet been separated or has not yet been completely separated from the intermediate layer stack can be detected via the at least one sensor system. However, embodiments have proven successful in practice in which the detection region of the at least one sensor system is positioned in such a way that a rotational position of an intermediate layer completely separated from the intermediate layer stack can be detected via the at least one sensor system.The apparatus also comprises a control device which is connected to the at least one manipulator and the at least one sensor system, wherein a movement of the intermediate layer via the at least one manipulator can be predefined by the control device, taking into account the detected rotational position, in such a way that the intermediate layer reaches the target location with a predetermined rotational orientation.After the rotational position of an intermediate layer is detected via the at least one sensor system, the control device can check whether the rotational position corresponds to a predefined desired orientation. If this is the case, the control device can actuate the at least one manipulator for transferring the intermediate layer to the target location without alignment correction. If the rotational position of an intermediate layer deviates from a predefined desired orientation, the control device can actuate the at least one manipulator in such a way that the at least one manipulator transfers the intermediate layer to the target location with an orientation correction, in which orientation correction a deviation of the detected rotational position from a desired orientation is taken into account. As a result, the intermediate layer can reach the target location with a predetermined rotational orientation and, if appropriate, be deposited on a pallet with a predetermined rotational orientation. Since an intermediate layer with exact rotational orientation is transferred to a target location or deposited on a pallet by means of the device according to the invention, the pallet that can be produced with the aid of the device according to the invention and has the articles stacked thereon has a very high stability.In practice, it may also be that an intermediate layer stack is inaccurately or positioned in such a way that all intermediate layers of the intermediate layer stack have a rotational orientation which deviates from a predefined desired orientation. In this case, an alignment correction can optionally be carried out for all intermediate layers of the intermediate layer stack via a movement of the at least one manipulator in such a way that all intermediate layers of the intermediate layer stack reach the target location with a predetermined rotational orientation.It is also conceivable for the at least one sensor system to comprise one or more light barriers. The one or more light barriers can comprise at least one receiver and at least one transmitter designed as a laser. The transmitter can emit a light beam in the vertical direction. The intermediate layer can enter the light beam with its leading edge that leads in the direction of movement or guidance or can interrupt the light beam. A detection region of the at least one sensor system can therefore be positioned in such a way that the intermediate layer first reaches the detection region of the at least one sensor system with its front edge during its movement or guidance. The control device can now determine the rotational position or rotational position of the intermediate layer with the aid of the at least one sensor system. In order that the intermediate layer reaches its target location with a predetermined rotational orientation, an orientation correction can be effected via the at least one manipulator, as already mentioned above, provided that the rotational position does not correspond to a desired orientation for the intermediate layer stored on the control device or predefined to the control device.Furthermore, embodiments have proven useful in which the at least one sensor system comprises at least one first preferably optical sensor and at least one second preferably optical sensor, which can be operatively connected to one another for detecting the rotational position. The at least one first preferably optical sensor and / or the at least one second preferably optical sensor can furthermore be designed as light barriers. In addition, the at least one first preferably optical sensor and the at least one second preferably optical sensor can be positioned in such a way that they can each register a leading edge of the intermediate layer which leads in a direction of movement of the intermediate layer. The direction of movement can be designed such that at least one component points in the direction of the target location and / or in the direction of the sensor system.Furthermore, the detection regions of the at least one first preferably optical sensor and of the at least one second preferably optical sensor can be offset with respect to one another at least partially obliquely with respect to the direction of movement of the intermediate layer. It is conceivable here that the detection ranges of the at least one first preferably optical sensor and of the at least one second preferably optical sensor do not overlap or only overlap in regions. The at least one first preferably optical sensor and the at least one second preferably optical sensor can therefore be positioned adjacent to one another at an angle to the movement or guiding direction of the respective intermediate layer. As a result, a control device which is connected to the at least one first preferably optical sensor and to the at least one second preferably optical sensor can detect the course or the orientation of the front edge of a respective intermediate layer and thereby determine the rotational position of a respective intermediate layer. Embodiments in which the at least one sensor system comprises a plurality of or at least two sensors have proven to be able to identify the rotational position of an intermediate layer as exactly as possible in a simple manner.Furthermore, embodiments have proven successful in which the at least one manipulator has at least one handling device with at least one suction and / or gripping head for receiving the intermediate layer and transferring the intermediate layer to the target location. In this case, the suction and / or gripping head can be rotatable or rotatable about a vertical axis running through the suction and / or gripping head. An intermediate layer can be rotated by means of a rotation of the suction and / or gripping head. If a rotational orientation of an intermediate layer deviates from a predefined desired orientation, the suction and / or gripping head can align the intermediate layer by defined rotation in such a way that the intermediate layer reaches the target location with a specific rotational orientation. It is conceivable, for example, for the suction and / or gripping head to be able to fix intermediate layers pneumatically or by means of reduced pressure. After transferring the intermediate layer to its target location or after depositing the intermediate layer on a pallet, the vacuum can be released and the at least one manipulator or the suction and / or gripping head can pick up a further intermediate layer and optionally rotate it about a vertical axis.It is also conceivable that the at least one handling device has a boom, on the free end region of which the suction and / or gripping head is arranged, wherein the boom can be pivoted about a vertical axis in order to transfer the intermediate layer to its target location. In particular, the cantilever can be guided horizontally during a pivoting movement.The invention also relates to a method for handling individual intermediate layers of an intermediate layer stack. Features which have been mentioned above with respect to conceivable embodiments of the device according to the invention can likewise be provided in various embodiments of the method described below. Furthermore, features of various embodiments of the method described below can be provided in conceivable embodiments of a device according to the invention.In the context of the method, an individual intermediate layer is separated from an intermediate layer stack and transferred to a target location. A pallet can be arranged at the target location or the target location can be formed by a pallet on which the respective intermediate layer is placed in order to stack articles on the intermediate layer. Prior to complete transfer to the target location, the intermediate layer reaches a detection area of at least one sensor system. A rotational position of the intermediate layer is detected via the at least one sensor system.For example, it may be that a rotational position of an intermediate layer is detected if an intermediate layer is still in contact with an intermediate layer stack or rests on an intermediate layer stack. In this case, one or more camera systems can be positioned in the region of the respective intermediate layer stack in order to recognize a rotational position of the intermediate layer. As described below, in preferred embodiments, a rotational position of an intermediate layer can be detected during a movement of the intermediate layer in the direction of the target location. The intermediate layer can optionally already be completely removed or separated from the respective intermediate layer stack.For a further method step, which follows the detection of the rotational position in time, a defined movement of the intermediate position in the direction of the target location is provided taking into account the detected rotational position, so that the intermediate position reaches the target location with a predetermined rotational orientation.If it is optionally determined when the rotational position is detected that an actual rotational position deviates from a desired rotational position, an alignment correction can be carried out within the scope of the determined movement in order to achieve a predetermined rotational orientation for the intermediate position at the target location. If it is optionally determined when the rotational position is detected that an actual rotational position corresponds to a desired rotational position, the intermediate position can be moved in the direction of the target location without orientation correction, wherein the intermediate position has the predetermined rotational orientation at the target location.Furthermore, it can be provided that the intermediate layer is guided via its front edge into a detection area of the at least one sensor system, wherein the at least one sensor system optically registers a front edge of the intermediate layer. The front edge can form the circumferential course of the intermediate layer with two outer edges and an opposite rear edge and optionally lead the rear edge in a direction of movement of the intermediate layer. The intermediate layer can accordingly be moved in a meaningful manner when optically registering the leading edge.Furthermore, it can be provided that the at least one sensor system for detecting the front edge emits a laser beam, which the front edge of the intermediate layer passes before reaching the target location.The front edge of the intermediate layer can also be guided in a detection range of at least one first sensor and in a detection range of at least one second sensor for detecting the rotational position, wherein the detection range of the at least one first sensor and the detection range of the at least one second sensor are offset with respect to one another obliquely to a direction of movement of the intermediate layer. In preferred embodiments, the at least one first sensor and / or the at least one second sensor can optically register the front edge of the intermediate layer and thus optionally be designed as light barriers which emit a laser beam.Furthermore, it may be that the intermediate layer is moved without interruption beginning with the separation from the intermediate layer stack until its rotational position is detected. In particular, the intermediate layer can be moved without interruption beginning with the separation from the stack of intermediate layers until the intermediate layer reaches a transfer location already described above. From there, the intermediate layer can be received via a handling device and be continued to the target location, which the intermediate layer reaches by defined movement by means of the handling device with a predetermined rotational orientation. For the defined movement, the handling device can be connected to a control device. It is clear to the person skilled in the art addressed that the movement of the intermediate layer can take place continuously or without interruptions in further conceivable embodiments, starting with its separation from the stack of intermediate layers until complete transfer to the destination.In addition, the intermediate layer may be rotated about a vertical axis, beginning with the separation from the stack of intermediate layers or for the defined movement of the intermediate layer in the direction of the target location, which vertical axis runs through the intermediate layer. By rotating about the vertical axis, the intermediate layer can be aligned so that the intermediate layer reaches the target location with a specific rotational orientation. The rotation about the vertical axis can furthermore be effected by means of the handling device and optionally be predefined via the control device taking into account the detected rotational position.In conceivable embodiments, the intermediate layer can be received by a suction and / or gripping head of a handling device, which is arranged at a free end region of a boom. In order to transfer the intermediate layer to its target location after receiving, the boom together with the intermediate layer and the suction and / or gripping head can be pivoted about a vertical axis, for example by an angle of 90°. The suction and / or gripping head can be rotated about the previously described vertical axis, which optionally runs through the suction and / or gripping head, in order to transfer the intermediate layer with a predetermined rotational orientation to the target location by means of the handling device.Further, the rotation about a vertical axis and the pivoting about a vertical axis may be temporally superimposed. Embodiments have also proven successful in which the rotation about the vertical axis and the pivoting about the vertical axis take place in opposite directions. As a result, intermediate layers can be deposited on the respective pallet in a simple and time-optimized manner or transferred to the target location with a predetermined rotational orientation.Exemplary embodiments are intended to explain the invention and its advantages in more detail below with reference to the appended figures. The size ratios of the individual elements to one another in the figures do not always correspond to the real size ratios, since some shapes are simplified and other shapes are depicted enlarged in relation to other elements for better illustration. FIG. 1 shows a schematic view of a first embodiment of a device according to the invention and illustrates steps as may be present in conceivable embodiments of a method according to the invention; FIG. 2 shows the device from FIG. 1 illustrating further aspects and steps, as may be present in conceivable embodiments of a method according to the invention; FIG. 3 shows the device from FIGS. 1 and 2 illustrating further aspects and steps, as may be present in conceivable embodiments of a method according to the invention; FIG. 4 shows in the flow chart individual steps as can be present in an implementation of the method according to the invention;Identical reference numerals are used for identical or identically acting elements of the invention. Furthermore, for the sake of clarity, only reference numerals are shown in the individual figures, which are required for the description of the respective figure. The illustrated embodiments are merely examples of how the invention may be embodied and do not provide a final limitation.FIG. 1 shows a schematic view of a first embodiment of a device 1 according to the invention and illustrates steps as may be present in conceivable embodiments of a method according to the invention. The device 1 is provided for handling individual intermediate layers 5 of an intermediate layer stack 7. In FIG. 1, the intermediate layer 5 positioned on the top of the intermediate layer stack 7 does not lie flush or rotated on the intermediate layer stack 7. At the rear, front and side of the intermediate layer stack 7, the intermediate layer 5 positioned on the top of the intermediate layer stack 7 protrudes from the intermediate layer stack 7.In order to transfer the intermediate layer 5 to the target location ZO, the apparatus 1 has a plurality of manipulators 11. At least one further manipulator or a suction and gripping device is also provided, which is not shown in the figures of the present patent application. The further manipulator or the suction and gripping device receives intermediate layers 5 from the intermediate layer stack 7 via vacuum and separates or pulls the respective intermediate layer 5 from the intermediate layer stack 7. A direction of movement of the intermediate layer 5 and of the further manipulator or of the suction and / or gripping device is indicated by means of an arrow representation and with reference to numeral 15. A component (not shown) of the direction of movement 15 is oriented in the direction of the target location ZO.Embodiments have also proved successful in which clamping strips which can be moved in the linear direction or in the direction of movement 15 receive a respective intermediate layer 5 separated from the stack of intermediate layers 7 from the suction and / or gripping device and place it on a transfer location. From there, the respective intermediate layer 5 can then be picked up by means of the manipulator 11 or the handling device 13, as described below, and deposited on a pallet.The intermediate layers 5 of the intermediate layer stack 7 shown in FIG. 1 each provide a complete plane of a pallet on which articles can be stacked. It should also be mentioned that, for conceivable embodiments, a plurality of the intermediate layers 5 can also jointly provide a plane of a pallet on which articles are stacked. The intermediate layers 5 can be designed as half layers.If all intermediate layers 5 of the intermediate layer stack 7 were transferred with a uniform movement path to the target location ZO, the rotated or inaccurate orientation of the intermediate layers 5 of the intermediate layer stack 7 would still be present at the target location ZO or on the pallet. However, such pallets tend to be unstable if the rotational orientation of intermediate layers 5 on the pallet deviates from a predetermined rotational orientation. With heavily twisted or inhomogeneously and non-flushly superposed intermediate layers 5 of the intermediate layer stack 7, problems can therefore be associated with palletization. As described below, the apparatus 1 can avoid such problems.After the intermediate layer 5 has been removed from the stack 7 of intermediate layers, the intermediate layer 5 is guided for this purpose into the detection range of a sensor system 16, which in the present case comprises a first sensor 17 and a second sensor 19. Both the first sensor 17 and the second sensor 19 are designed as optical sensors or as light barriers and emit a laser beam downward in the vertical direction. The movement of the intermediate layer 5 in the direction of the sensor system 16 or in the direction of the first sensor 17 and the second sensor 19 takes place in such a way that the front edge 21 of the intermediate layer 5 first reaches the detection range of the respective sensor 17 or 19. As can be seen in FIG. 1, the intermediate layer 5 is already completely separated from the intermediate layer stack 7 and is moved continuously until its front edge 21 enters the detection range of the first sensor 17 and the second sensor 19. The movement of the intermediate layer 5 in the direction of the first sensor 17 and the second sensor 19 takes place linearly in the direction of movement 15 and until then without alignment correction, so that the intermediate layer 5 continues to have its relative rotational position with respect to the stack 7 of intermediate layers even when its front edge 21 enters the detection regions of the first sensor 16 and the second sensor 19.The first sensor 17 and the second sensor 19 or the detection ranges of the first sensor 17 and the second sensor 19 are offset obliquely to the direction of movement 15 of the intermediate layer 5, so that the front edge 21 of the intermediate layer 5 leading in the direction of movement 15 first reaches the detection range of the first sensor 17 and subsequently in time reaches the detection range of the second sensor 19. Since the position of the sensor system 16 or of the first sensor 17 and of the second sensor 19 is known, the control device S, which is connected to the sensor system 16 or to the first sensor 17 and the second sensor 19, can determine a rotational position or orientation of the intermediate layer 5 when the front edge 21 of a respective intermediate layer 5 enters the detection regions of the first sensor 17 and of the second sensor 19.The sensors 17 and 19 are positioned in such a way that a rotational position or orientation of the respective intermediate layer 5 corresponds to a desired rotational position or desired orientation when its leading edge 21 is detected synchronously with time or at least approximately synchronously with time via the sensors 17 and 19. Such a transfer of an intermediate layer 5 to the target location ZO without alignment correction is described below with reference to FIG. 2.If the front edge 21 of the intermediate layer 5, as shown in FIG. 1, is not detected synchronously or with a delay via the sensors 17 and 19, the control device S can determine a rotational position or orientation of the intermediate layer 5 which deviates from a desired rotational position or desired orientation. The amount of the time offset is also used to know to the control device S the deviation of the rotational position or orientation of the intermediate layer 5 from the predetermined desired rotational position or desired orientation, so that the latter can carry out an alignment correction by means of the manipulator 11 or the handling device 13.Temporally after the leading edge 21 of the intermediate layer 5 enters the detection ranges of the sensors 17 and 19, the intermediate layer 5 is still moved linearly and in the direction of movement 15 and deposited on a transfer location, not shown. An alignment correction of the intermediate layer 5 does not take place until the intermediate layer 5 is placed down at the transfer location, so that the intermediate layer 5 still has its relative rotational position formed on the intermediate layer stack 7. A movement of the intermediate layer 5 takes place continuously or without interruptions until reaching the transfer location, but can also take place discontinuously or with one or more interruptions in further embodiments.The manipulator 11 or the handling device 13 has a boom 9 on the free end region of which a suction and / or gripping head 6 is arranged. The boom 9 can be pivoted together with the suction and / or gripping head 6 about a vertical axis which is oriented in the direction of the image plane in FIG. 1. The pivoting movement is indicated in FIG. 1 by means of an arrow representation. In addition, two positions of the boom 9 and of the suction and / or gripping head 6 are shown, which are offset relative to one another by 90°. The pivoting movement of the boom 9 about the vertical axis takes place horizontally.From the aforementioned transfer location, the manipulator 11 or the handling device 13 takes the intermediate layer 5 by way of the suction and / or gripping head 6, which fixes the intermediate layer 5 by means of reduced pressure. Since the intermediate layer 5 has not been rotated until the pickup via the manipulator 11 or the handling device 13 and has only been guided linearly in the direction of movement 15, the rotational position or orientation of the intermediate layer 5 is unchanged until the pickup via the manipulator 11 or the handling device 13.By means of the suction and / or gripping head 6 of the manipulator 11 or the handling device 13, the intermediate layer 5 can be rotated about a vertical axis which is oriented in the direction of the image plane in FIG. 1 and runs through the suction and / or gripping head 6. Since the front edge 21 of the intermediate layer 5 has been registered via the sensors 17 and 19 and the rotational orientation of the intermediate layer 5 is known to the control device S upon reception via the manipulator 11 or the handling device 13, the control device S can move the intermediate layer 5 via the manipulator 11 or the handling device 13 in such a way that the intermediate layer 5 reaches the target location ZO with a predetermined rotational orientation.A combination of the two positions of the boom 9 shown in FIG. 1 with the suction and / or gripping head 6 reveals that the intermediate layer 5 is both pivoted about the vertical axis and rotated about the vertical axis which runs through the suction and / or gripping head 6 when it is transferred to the target location ZO. The pivoting of the boom 9 together with the suction and / or gripping head 6 and the intermediate layer 5 fixed to the suction and / or gripping head 6 and the rotation of the intermediate layer 5 about the vertical axis which runs through the suction and / or gripping head 6 are temporally superimposed and oriented in opposite directions.The amount by which the intermediate layer 5 is pivoted about the vertical axis which runs through the suction and / or gripping head 6 is specified by the control device S. Since the rotational position or orientation of the intermediate layer 5 is known to the control device S upon receipt by the manipulator 11 or the handling device 13, the pivoting movement of the intermediate layer 5 about the vertical axis running through the suction and / or gripping head 6 can be effected in such a way that the intermediate layer 5 reaches the target location ZO with a predetermined rotational orientation and can thus be positioned exactly on a pallet. Thus, with the aid of the device 1, very stable pallets with a plurality of articles, such as beverage containers, can be formed.FIG. 2 shows the device 1 from FIG. 1 illustrating further aspects and steps. The intermediate layer 5 positioned on the top of the intermediate layer stack 7 is oriented flush with the further intermediate layers 5 of the intermediate layer stack 7. As described above with reference to FIG. 1, the intermediate layer 5 is removed from the stack 7, wherein the intermediate layer 5 subsequently enters with its front edge into the detection range of a first sensor 17 and into the detection range of a second sensor 19. The rotational position or orientation of the intermediate layer 5 positioned on the top of the intermediate layer stack 7 corresponds to a desired orientation or desired rotational position. If the intermediate layer 5 is now guided away from the stack 7 of intermediate layers linearly or in the direction of movement 15, the intermediate layer 5 enters the detection ranges of the sensors 17 and 19 with its front edge 21 simultaneously or at least approximately simultaneously and is registered by these.Since the sensors 17 and 19 are furthermore connected to the control device S, the control device S can establish a correspondence of the orientation or rotational position with a desired orientation or desired rotational position on the basis of the simultaneous or at least approximately simultaneous registration of the front edge 21. After receiving the intermediate layer 5 via the manipulator 11 or the handling device 13, the manipulator 11 or the handling device 13 does not have to effect an alignment correction for the intermediate layer 5 in order to transfer the intermediate layer 5 to the target location ZO with a predetermined rotational orientation. Thus, the suction and / or gripping head 6 together with the intermediate layer 5 is rotated by a certain amount and in the present case by 90° about a vertical axis running through the suction and / or gripping head 6, in order to maintain the relative rotational orientation of the intermediate layer 5 when transferred to the target location ZO. Simultaneously and in the opposite direction, the boom 9 is pivoted horizontally in order to transfer the intermediate layer 5 to the target location ZO after being taken up by the suction and / or curing head 6. At the target location ZO, the intermediate layer 5 has a predetermined rotational orientation, so that stable pallets can be formed with the aid of the device 1.FIG. 3 shows the device 1 from FIGS. 1 and 2 illustrating further aspects and steps. The intermediate layer stack 7 is positioned in FIG. 3 with all intermediate layers 5 in such a way that a rotational position or orientation of all intermediate layers 5 of the intermediate layer stack 7 does not correspond to a predefined desired rotational position or desired orientation.Once the intermediate layer 5 has been removed from the stack 7 of intermediate layers, the intermediate layer 5 is guided into the detection regions of the sensors 17 and 19 which register a front edge 21 of the intermediate layer 5. Analogously to the exemplary embodiment from FIG. 1, the sensors 17 and 19 register the front edge 21 of the intermediate layer 5 with a time delay, as a result of which the control device S establishes that the rotational position or orientation of the intermediate layer 5 does not match a setpoint rotational position or setpoint orientation.The further movement of the intermediate layer 5 in the direction of a transfer location, not shown in FIG. 3, takes place linearly or in the direction of movement 15, wherein the intermediate layer 5 retains its rotational position or wherein the intermediate layer 5 does not undergo any alignment correction until then.As in the exemplary embodiment from FIG. 1, the manipulator 11 or the handling device 13 receives the intermediate layer 5 via a vacuum via the suction and / or gripping head 6, which is arranged at a distal free end region of the boom 9. The manipulator 11 or the handling device 13 can rotate the intermediate layer 5 after being taken up about a vertical axis which runs through the intermediate layer 5 or through the suction and / or gripping head 6 and is also oriented in the direction of the image plane in FIG. 3. The rotation is effected via the control device S in such a way that the intermediate layer 5 has a predetermined rotational orientation when it is reached or when it is completely transferred to the target location ZO. To transfer the intermediate layer 5 to the target location ZO, the extension arm 9 is pivoted horizontally and about a vertical axis oriented in the direction of the image plane. Two positions of the boom 9 and of the suction and / or gripping head 6 that can be produced by means of the pivoting are also shown in FIG. 3. A pivoting movement of the boom 9, the suction and / or gripping head 6 and the intermediate layer 5 gripped by the suction and / or gripping head 6 takes place in the present case by 90° and horizontally. In addition, the pivoting movement of the extractor 9 and the rotational movement of the intermediate layer 5 by means of the suction and / or curing head 6 are superimposed over time and take place in opposite rotational directions.An alignment correction can be carried out for all intermediate layers 5 of the intermediate layer stack 7, so that all intermediate layers 5 of the intermediate layer stack 7 reach the target location ZO with a predetermined rotational orientation. The device 1 can accordingly receive intermediate layers 5 of an intermediate layer stack 7, which is inaccurately or not exactly positioned, and transfer it to the target location ZO completely with a predetermined rotational orientation, independent of the positioning of the intermediate layer stack 7.FIG. 4 shows in the flow chart individual steps as can be present in an implementation of the method 10 according to the invention. Thus, within the scope of a first step, an intermediate layer 5 (see the preceding figures) is separated from an intermediate layer stack 7. The severing can be carried out by means of a manipulator or a suction and / or gripping device, as already described above, which temporarily fixes the respective intermediate layer 5 to be severed via reduced pressure.Subsequently in time, the intermediate layer 5 is moved into a detection region of at least one sensor system 16 and can first enter the detection region via its front edge 21. The rotational position of the intermediate layer 5 can then be detected or registered by means of the sensor system 16. The sensor system 16 can be connected to a control device S which, taking into account the detected or registered rotational position, brings about a movement of the intermediate layer 5 in the direction of a target location ZO in such a way that the intermediate layer 5 reaches the target location ZO with a predetermined rotational orientation. For this purpose, the control device S can actuate a manipulator 11 or a handling device 13 in a defined manner in order to transfer the intermediate layer 5 with a specific rotational orientation to the target location ZO.The invention has been described with reference to a preferred embodiment. It is, however, conceivable for a person skilled in the art that modifications or changes can be made to the described exemplary embodiments without thereby departing from the scope of protection of the following claims.List of reference characters1 Device 5 Intermediate layer 6 Suction and / or gripping head 7 Intermediate layer stack 9 Cantilever 10 Method 11 Manipulator 13 Handling device 15 Direction of movement 16 Sensor system 17 First sensor 19 Second sensor 21 Front edge S Control device ZO Target location

Claims

Device (1) for handling individual intermediate layers (5) of an intermediate layer stack (7), comprising - at least one manipulator (11) for separating an individual intermediate layer (5) from the intermediate layer stack (7) and transferring the intermediate layer (5) to a target location (ZO), - at least one sensor system (16), by means of which a rotational position of the individual intermediate layer (5) can be detected, - a control device (S), which is connected to the at least one manipulator (11) and the at least one sensor system (16), wherein a movement of the intermediate layer (5) via the at least one manipulator (11) can be predefined by the control device (S) taking into account the detected rotational position in such a way that the intermediate layer (5) reaches the target location (ZO) with a predetermined rotational orientation, wherein the at least one manipulator (11) is designed for depositing an intermediate layer (7) on a pallet arranged at the target site (ZO).Device according to claim 1, in which the at least one sensor system (16) comprises one or more light barriers.Device according to claim 2, in which the one or more light barriers comprise at least one receiver and at least one transmitter designed as a laser.Device according to one or more of Claims 1 to 3, in which the at least one sensor system (16) comprises at least one first preferably optical sensor (17) and at least one second preferably optical sensor (19), which a) are positioned in such a way that they can each register a leading edge (21) of the intermediate layer (5) which leads in a direction of movement (15) of the intermediate layer (5), and wherein b) the detection regions of the at least one first preferably optical sensor (17) and of the at least one second preferably optical sensor (19) are offset with respect to one another at least proportionally obliquely with respect to the direction of movement (15) of the intermediate layer (5).Apparatus according to one or more of Claims 1 to 4, in which the at least one manipulator (11) has at least one handling device (13) having at least one suction and / or gripping head (6) for receiving the intermediate layer (5) and transferring the intermediate layer (5) to the target location (ZO), wherein the suction and / or gripping head (6) is rotatable about a vertical axis running through the suction and / or gripping head (6) in order to rotate a received intermediate layer (5).Apparatus according to claim 5, wherein the at least one handling device (13) has a boom (9), at the free end region of which the suction and / or gripping head (6) is arranged, wherein the boom (9) can be pivoted about a vertical axis in order to transfer the intermediate layer (5) to its target location (ZO).Method (10) for handling individual intermediate layers (5) of an intermediate layer stack (7), comprising the following steps: - separating an individual intermediate layer (5) from an intermediate layer stack (7) and transferring the intermediate layer (5) to a target location (ZO), wherein the intermediate layer (5) reaches a detection range of at least one sensor system (16) temporally before complete transfer to the target location (ZO), - detecting a rotational position of the intermediate layer (5) via the at least one sensor system (16), - defined movement of the intermediate layer (5) in the direction of the target location (ZO) taking into account the detected rotational position, so that the intermediate layer (5) reaches the target location (ZO) with a predetermined rotational orientation, wherein the target location (ZO) is formed by a pallet and the intermediate layer (5) is deposited on the pallet with the predetermined rotational orientation.Method according to Claim 7, in which the intermediate layer (5) is guided via its front edge (21) into a detection region of the at least one sensor system (16), wherein the at least one sensor system (16) optically registers a front edge (21) of the intermediate layer (5).Method according to Claim 8, in which the at least one sensor system (16) for optically registering the front edge (21) emits a laser beam, which the front edge (21) of the intermediate layer (5) passes before reaching the target location (ZO).Method according to one or more of Claims 7 to 9, in which the front edge (21) of the intermediate layer (5) is guided, for detecting the rotational position, into a detection region of at least one first sensor (17) and into a detection region of at least one second sensor (19), wherein the detection region of the at least one first sensor (17) and the detection region of the at least one second sensor (19) are offset with respect to one another obliquely with respect to a direction of movement (15) of the intermediate layer (5).Method according to one or more of Claims 7 to 10, in which the intermediate layer (5) is moved without interruption starting from the separation from the intermediate layer stack (7) until its rotational position is detected.Method according to one or more of claims 7 to 11, wherein the intermediate layer (5) is rotated about a vertical axis during its movement in the direction of the target location (ZO), which vertical axis runs through the intermediate layer (5).Method according to one or more of claims 7 to 12, wherein the intermediate layer (5) is received by a suction and / or gripping head (6) of a handling device (13) which is arranged at a free end region of a boom (9), wherein the boom (9) together with the intermediate layer (5) and the suction and / or gripping head (6) is pivoted about a vertical axis in order to transfer the intermediate layer (5) to the target location (ZO).A method according to claim 12 and claim 13, wherein the rotating about a vertical axis and the pivoting about a vertical axis are time superimposed.A method according to claims 12 and 13 or claims 12 to 14, wherein the turning about the vertical axis and the pivoting about the vertical axis are in opposite directions.

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