Device and method for positioning individual intermediate layers of an intermediate layer stack on assigned pallets

Abstract

Device (1) for positioning individual intermediate layers (15) of an intermediate layer stack (2) on associated pallets (9), comprising - at least one transfer unit (4) comprising one or more contact means (11) for releasably gripping an intermediate layer (15) arranged at the top of the stack (2) and being movable from the stack (2) towards a transfer point (5) for the respective intermediate layer (15) and - at least one handling device (30) designed to receive at least one intermediate layer (15) from the transfer point (5) and to transfer and position the at least one intermediate layer (15) in a defined manner on the respective pallet (9), characterized in that - the handling device (30) has freedom of movement with an oblique orientation towards a floor surface for the purpose of further handling and - the transfer point (5) is designed to assume at least two stable positions (LP1, LP2), wherein the transfer point (5) has a substantially horizontal orientation in a first (LP1) of the at least two stable positions (LP1, LP2) and is inclined relative to the horizontal in a second (LP2) of the at least two stable positions (LP1, LP2).

Description

[0001] The present invention relates to a device and a method for positioning individual intermediate layers of an intermediate layer stack on associated pallets.

[0002] Automated palletizing devices are already known from the prior art, which arrange several items on a pallet and, if necessary, wrap the items of the respective pallet with shrink film.

[0003] These types of pallets preferably have multiple layers of items stacked on top of each other to accommodate a large number of items. The items might, for example, be containers with several beverage containers. Such items often have a complex geometry, so stacking multiple layers is not always possible without resulting stability issues for the entire pallet assembly. It is particularly important to ensure a certain level of stability during transport to prevent the items from tipping over.

[0004] To increase the stability of the pallet assembly, or to ensure sufficient stability, it is known from the prior art to provide so-called intermediate layers for stacked items. Such intermediate layers can extend at least approximately across the entire width of the pallet, so that all items rest on such an intermediate layer. Known intermediate layers are made, for example, of paper, cardboard, corrugated board, or similar materials.

[0005] For automated palletizing processes, it is necessary that interleaving sheets are available quickly and in large quantities. Therefore, stacks of interleaving sheets containing a large number of such sheets are a common practice.

[0006] Before the individual layers are placed on the pallet, it is necessary to separate them from the stack. Numerous devices are known in the art for this purpose, by means of which such separation of individual layers from a stack is achieved. Once the layers have been separated from the stack, they are often positioned at a transfer station, where they are received by another device and arranged as layers on the respective pallet.

[0007] A device for handling intermediate layers is already known from DE 10 2013 106 012 A1. The device includes a gripping device which grasps the leading edge of an intermediate layer, moves it to a placement position, and releases it again in that position.

[0008] In order to carry out palletizing with intermediate layers at a high throughput, devices and methods are desirable which allow for the time-optimized positioning of intermediate layers on the respective pallets.

[0009] The object of the invention is therefore to provide a device and a method for positioning individual intermediate layers of an intermediate layer stack on assigned pallets, which allows the positioning of the individual intermediate layers to be optimized in terms of time.

[0010] The above problems are solved by a device and a method comprising the features in claims 1 and 11. Further advantageous embodiments are described in the dependent claims.

[0011] The invention relates to a device for positioning individual interlayers of a stack of interlayers on assigned pallets. The interlayers can be made, for example, of paper, cardboard, corrugated board, or similar materials. It is conceivable that the broad sides of the interlayers are rectangular in shape. Practical experience has shown that flat plastic materials and other flat materials can also be easily separated from a stack using the device according to the invention, so that the use of the device is not limited to cellulose-containing materials.

[0012] For example, the device may have a feed station in which the respective stack(s) of interlayer sheets are arranged. Since the stacks of interlayer sheets are preferably located on pallets, after all interlayer sheets have been removed from the stack, the pallet can optionally be removed from the feed station and replaced by a full pallet containing a large number of interlayer sheets. In particular, a position for the stack of interlayer sheets or for the pallet containing the individual interlayer sheets may be at least approximately predetermined in the area of ​​the feed station.

[0013] According to the present invention, the device comprises at least one transfer unit, which includes one or more contact means for releasably gripping an intermediate layer arranged at the top of the stack. Furthermore, the transfer unit is movable or traversable from the stack towards a transfer point for the respective intermediate layer.

[0014] The transfer unit can be connected to a control device that dictates the movement of the transfer unit. It is conceivable that the transfer unit moves essentially horizontally as it proceeds towards the transfer point.

[0015] It is also possible that the transfer unit is guided back and forth by a linear guide extending from the stack over or towards the transfer point, or that the transfer unit is connected to a linear guide. In particularly preferred embodiments, an actuator can be provided which moves the transfer unit back and forth along the linear guide. The actuator can also be connected to the control unit and actuated via the control unit.

[0016] In various embodiments, the device may also include several such transfer units. If several such transfer units are provided, they may be guided synchronously and each configured to provide intermediate layers. Each transfer unit may be assigned a feed station or an intermediate layer stack, from which the respective transfer unit takes intermediate layers and positions them on one or more assigned transfer stations.

[0017] It is also possible that the device includes another linear guide with which the transfer unit is connected and whose guide direction is oriented perpendicular to the guide direction of the linear guide extending from the stack towards the transfer point.

[0018] Advantageously, the position for the intermediate layer at the transfer station does not need to be aligned with the position of the intermediate layer at the top of the stack, since several linear guides allow the transfer unit to be guided at an angle as it moves towards the transfer station. The transfer unit can be moved back and forth along the guide direction of the additional linear guide by an actuator, for example, a pneumatic cylinder.

[0019] It is clear to the person skilled in the art that further transfer units can be used to design the device according to the invention, which differ from the described embodiment in terms of their functional principle and design.

[0020] The device also includes at least one handling device designed to receive at least one intermediate layer from the transfer point and to transfer and position the at least one intermediate layer on the respective pallet. The handling device can, for example, have one or more suction heads by means of which it receives the one or more intermediate layers positioned at the transfer point and secures them until they are positioned on the respective assigned pallet. Once the at least one intermediate layer has been placed on the pallet via the handling device, the supporting connection between the handling device or between the one or more contact elements and the respective intermediate layer can be released. The handling device can then be moved back towards the transfer point, from which it can again transfer another intermediate layer.which receives the intermediate layer placed at the top of the stack.

[0021] The handling device thus has a detection area for gripping the respective intermediate layer, which detection area extends at least partially into the area of ​​the transfer point.

[0022] It is conceivable, for example, that the at least one handling device for receiving the at least one intermediate layer is lowered vertically or perpendicularly and in the direction of the respective intermediate layer positioned on the transfer point.

[0023] According to the invention, the at least one handling device for the purpose of transferring the respective intermediate layer from the transfer point towards the respective assigned pallet has a freedom of movement with an oblique orientation towards a floor surface.

[0024] The vertical level of the at least one handling device can thus decrease gradually as the respective intermediate layer begins to be moved from the transfer point towards the pallet. It is also conceivable that the vertical level of the at least one handling device decreases continuously from the beginning of the intermediate layer's movement until it is positioned on its assigned pallet. The handling device can also be connected to the control device described above, which controls an inclined movement of the handling device towards the floor after each intermediate layer has been received from the transfer point.

[0025] Furthermore, the device according to the invention provides that the transfer point is designed to assume at least two stable positions, wherein the transfer point has a substantially horizontal orientation in a first of the at least two stable positions and in a second of the at least two stable positions is inclined relative to the horizontal and may point towards a floor surface.

[0026] Due to the inclination of the transfer point at the second stable position and the possibility of the handling device being guided at an angle towards a floor surface, the distance the handling device must travel to advance the intermediate layer to its position on the respective pallet is shortened compared to a handling device with freedom of movement in both vertical and horizontal directions. This shortened path allows for time-optimized placement of intermediate layers on pallets. Palletizing is advantageously possible with increased throughput. In preferred embodiments, the handling device can be guided directly or via the shortest route towards the respective pallet.

[0027] In particularly preferred embodiments of the present invention, the handling device may, in addition to its freedom of movement with an oblique orientation towards a floor surface, be designed to be movable in a vertical direction. In order to be able to transfer another intermediate layer to the transfer point by means of the handling device while the respective intermediate layer is being positioned on its associated pallet, the transfer point may already have returned to its initial position, in which the transfer point is essentially horizontally oriented, before the handling device is returned from the pallet towards the transfer point.

[0028] Returning the handling device to the transfer point along a direction of movement that is inclined to the floor surface may be hindered by the horizontal orientation of the transfer point. However, a horizontal orientation of the transfer point may be desirable as soon as possible after the removal of the respective intermediate layer in order to transfer another intermediate layer to the transfer point. Therefore, in preferred embodiments, the handling device has freedom of movement in a vertical direction, or can be raised and lowered vertically, in order to allow it to return to the transfer point. Once the respective intermediate layer has been placed on the corresponding pallet, the handling device can then be moved upwards in a vertical direction.Once the handling device has reached a predetermined vertical level, it is conceivable that the handling device is then moved horizontally back towards the transfer point.

[0029] In particular, it is conceivable that the transfer station is connected to an actuator that moves the transfer station from the first stable position to the second stable position and from the second stable position back to the first stable position. The actuator can be connected to the control unit so that the respective position to which the transfer station is to be moved is specified by the control unit. A transfer from the first position to the second position can be specified, at least approximately, immediately after the transfer station receives the respective intermediate layer. A transfer from the second position to the first position can be specified by the control unit at the latest when the respective intermediate layer is positioned on the pallet.

[0030] Furthermore, the transfer station may be equipped with one or more movable centering elements for the defined alignment of one or more intermediate layers arranged at the transfer station. By means of a delivery movement of the one or more centering elements, the one or more intermediate layers can then be aligned at the transfer station. In particular, the centering elements may remain in their position after their delivery movement until the one or more intermediate layers arranged at the transfer station have been received by the at least one handling device. This ensures that the one or more intermediate layers remain in their position and do not become disoriented until they are received by the at least one handling device.

[0031] In particular, embodiments have proven successful in which several centering elements are provided, which are moved towards each other for the purpose of aligning the respective intermediate layer and come into contact with the respective intermediate layer during their movement. The broad surfaces of at least two centering elements facing the respective intermediate layer can be perpendicular to each other. When the respective intermediate layer is aligned via the centering elements, the respective intermediate layer is no longer held by one or more contact means of the transfer unit.

[0032] One or more of the centering elements can also be connected to an actuator, which is designed, for example, as at least one pneumatic and / or hydraulic cylinder and effects the positioning of the respective centering element(s).

[0033] Once the respective intermediate layer has been positioned on the transfer point, the intermediate layer can, at the first stable position of the transfer point, have an orientation that is at least approximately parallel to the respective intermediate layers still remaining on the stack.

[0034] In preferred embodiments, the one or more centering elements associated with the transfer point are also operatively connected to a control device. This allows the centering elements to be positioned via the control device. It is conceivable that a positioning movement of the one or more centering elements occurs at least approximately immediately after the connection between the contact means and the respective intermediate layer is broken, or at least approximately immediately after the one or more intermediate layers are positioned on the transfer point.

[0035] It is also conceivable that the one or more contact elements of the transfer unit are designed with at least one suction device to fix the respective intermediate layer arranged at the top of the stack by means of negative pressure. The at least one suction device can each have one or more suction heads, the cross-section of which increases in area towards the direction away from the transfer unit. In practice, it has been shown that by designing the one or more contact elements with at least one suction device, a secure grip on the respective intermediate layer arranged at the top of the stack can be achieved in a simple and straightforward manner.

[0036] Furthermore, the device may comprise at least one vertically liftable and lowerable feed mechanism, in particular at least one rotating roller, which is pressurized and brought into surface contact with the respective intermediate layer arranged at the top of the stack. A stop may also be provided against which the respective intermediate layer arranged at the top of the stack is guided horizontally by means of the feed mechanism or the rotating roller.

[0037] In particularly preferred embodiments, the feed device is connected to a frame or suspension and can be raised and lowered vertically together with the frame or suspension by raising and lowering it. It is also conceivable that the transfer point and / or the one or more centering elements are connected to the frame or suspension, so that raising and lowering the frame or suspension guides the transfer point and / or the one or more centering elements together with the frame or suspension. A guide edge, which may optionally serve as a stop for intermediate layers and will be described in more detail below, is also fixedly connected to the frame or suspension in various embodiments.

[0038] In particular, it can be provided that the respective intermediate layer arranged at the top of the stack is guided against the stop by at least one feed device before contacting the transfer unit. Accordingly, the alignment of the respective intermediate layer arranged at the top of the stack can be achieved by its horizontal movement via the at least one feed device or the at least one roller and guide against the stop.

[0039] In further embodiments, at least one feed device can be designed by one or more brushes or the like, which move the respective intermediate layer arranged at the top of the stack essentially horizontally.

[0040] The at least one feed unit can be operated in a timed manner, whereby, after the intermediate layer at the top of the stack has been completely separated from the stack, another intermediate layer is moved essentially horizontally and guided against the stop for the purpose of alignment. For this purpose, the at least one feed unit can be connected to a control unit that coordinates its timed operation with the movement of the transfer unit. In particular, the feed unit can guide the respective intermediate layer at the top of the stack against the stop during placement, or the rollers can be rotated during placement of the transfer unit onto the respective intermediate layer at the top of the stack. The horizontal guidance or the rotational movement can be controlled by the control unit.

[0041] Since the vertical level of the stack of intermediate layers gradually decreases with each removal of the top layer, embodiments have proven effective in which the at least one feed device is vertically raising and lowering. The at least one feed device can also be connected to a control device to lower its vertical level in a defined manner after one or more intermediate layers have been removed from the stack and to maintain pressurized contact between the at least one feed device and the respective top layer of the stack.

[0042] In further preferred embodiments, it is also conceivable that the device comprises at least one guide edge inclined over the stack of intermediate layers. The previously described stop, against which the intermediate layer arranged at the top of the stack is moved by the feed device, can be designed as part of the guide edge. In particular, the guide edge can be designed to be horizontally movable or horizontally travelable and brought into surface contact with the stack or with intermediate layers of the stack by means of a horizontal movement before the separation of the intermediate layers begins.

[0043] The guide edge can simplify the separation of the respective intermediate layer at the top of the stack and also assist in guiding the respective layer towards the transfer point. In particular, the guide edge can form an incline at its free end and extend over the stack or over the respective intermediate layer at the top of the stack. The guide edge, or a portion of the guide edge inclined towards the stack, can form an obtuse angle with a vertical line.

[0044] When the topmost intermediate layer on the stack is lifted away from the stack by the transfer unit, and the guide edge extends at an angle over the topmost intermediate layer, the layer comes into contact with the guide edge during lifting and is guided along it. This can cause the layer to deform convexly, at least in some areas, potentially dislodging any other intermediate layers adhering to it. Thus, the layer is bent, at least in the area that comes into contact with the guide edge, causing any other intermediate layers in the stack that may be adhering to it to detach.

[0045] Embodiments in which the device includes a previously described guide edge have proven particularly effective in reducing the risk of several intermediate layers sticking together when received by the transfer unit.

[0046] It may also be provided that the guide edge is designed as part of a previously described stop against which the stack of intermediate layers and / or an intermediate layer arranged at the top of the stack of intermediate layers abuts.

[0047] As previously mentioned, the stack of intermediate layers, or the individual layers of the stack, can be aligned against the stop before contact with the transfer unit, if necessary with the aid of a feed device. The transfer unit can thus precisely define and pick up the respective intermediate layer located at the top of the stack with a predetermined orientation.

[0048] For example, the guide edge or stop can provide a flat surface for the stack of interlayers, against which the stack of interlayers and / or the interlayer placed at the top of the stack rests.

[0049] If the intermediate layer at the top of the stack comes into surface contact with the guide edge, which acts as a stop, the guide edge or its inclined section may extend over the intermediate layer. When the intermediate layer is lifted vertically by the transfer unit, it is in surface contact with the inclined part of the guide edge and is guided by it.

[0050] In particularly preferred embodiments, the device can include at least one movable gripping device designed to receive the respective intermediate layer from the transfer unit and to convey and position the intermediate layer at the transfer point. Embodiments with at least one gripping device have proven particularly effective for separating individual intermediate layers from the stack and subsequently placing them on a pallet with high throughput.

[0051] For example, the at least one movable gripping device can have one or more gripping elements that fix the respective intermediate layer by means of negative pressure and / or clamping. In practice, embodiments in which the one or more gripping elements are mechanical, for example by gripping fingers or the like, have proven particularly effective. If several gripping devices are present, each of the several gripping devices can be assigned at least two gripping elements or at least two gripping fingers for fixing the respective intermediate layer. In particular, several gripping devices can be moved synchronously in such a way that they each receive one or more intermediate layers from an assigned transfer unit at approximately the same time and / or each position one or more intermediate layers synchronously at a transfer station.

[0052] Advantageously, the at least one movable gripping device can be designed to move back and forth between the transfer unit and the transfer point for the respective intermediate layers. Furthermore, the at least one gripping device can be moved horizontally. However, embodiments in which the at least one gripping device can be raised and lowered are also conceivable. In particularly preferred embodiments, the at least one movable gripping device moves towards the respective transfer unit and engages the transfer unit in an area between the stack and the transfer point.

[0053] The device can also have at least one sensor system by which the relative position of the respective intermediate layer to the transfer unit can be determined and / or detected after being grasped by the respective at least one transfer unit. Furthermore, the device can have a control unit coupled to the at least one transfer unit and the at least one sensor system, by which a direction can be specified when moving the transfer unit depending on the relative position determined and / or detected by the at least one sensor system. The sensor system can, for example, be designed as a light barrier and may be fixed to the at least one transfer unit or be coupled to it in a connection with the at least one transfer unit. Such embodiments have proven effective in positioning the respective intermediate layer as precisely as possible and in the desired position on the transfer point.

[0054] The present invention further relates to a method for positioning individual intermediate layers of an intermediate layer stack on assigned pallets. It should be noted that features previously described for various embodiments of a device according to the invention may also be provided for various embodiments of the method according to the invention. Furthermore, features subsequently described for various embodiments of the method according to the invention may also be provided for conceivable embodiments of a device according to the invention.

[0055] In this process, a transfer unit, comprising one or more contact means for releasably gripping an intermediate layer positioned at the top of the stack, is placed onto the stack of intermediate layers. For example, the transfer unit may be lowered vertically and placed onto the respective intermediate layer at the top of the stack.

[0056] It is conceivable that the transfer unit is initially guided parallel to the stack's intermediate layers and in the direction of the stack until it is positioned above or above the stack. Subsequently, the transfer unit can be lowered vertically, with the one or more contact elements being placed onto the respective intermediate layer at the top of the stack. Alternatively, the transfer unit could be positioned onto the respective intermediate layer at the top of the stack by means of a pivoting motion of the one or more contact elements. In this process, the one or more contact elements can come into contact with the respective intermediate layer at the top of the stack.

[0057] If the transfer unit or the one or more contact means of the transfer unit are placed on the intermediate layer arranged at the top of the stack, a detachable connection can subsequently be established between the one or more contact means and the respective intermediate layer arranged at the top of the stack.

[0058] In this context, embodiments in which the intermediate layer is held in place by negative pressure via one or more contact means have proven particularly effective. Thus, the respective intermediate layer can be held in place by negative pressure at several defined points via the one or more contact means. Each of the one or more contact means can be assigned such a point. It is clear to the person skilled in the art that other connection options for holding the respective intermediate layer via the one or more contact means are also conceivable, but these are not all explicitly mentioned here.

[0059] In the inventive method, the respective intermediate layer is then moved towards a transfer point with the aid of the at least one transfer unit and placed or positioned there. For example, it can be provided that the respective intermediate layer is moved directly to the transfer point via the respective at least one transfer unit and placed or positioned there. In preferred embodiments, however, it is provided that a gripping device, described below, receives the respective intermediate layer from the at least one transfer unit, transports it further towards the transfer point, and places or positions it there.

[0060] It is conceivable that, after grasping the respective intermediate layer at the top of the stack, the transfer unit lifts that layer and then remains stationary in its position for a certain period of time. If, due to very strong electrostatic adhesion, several intermediate layers stick together and are lifted simultaneously, the electrostatic adhesion can be overcome by means of the defined dwell time, and the individual intermediate layers can be separated from one another.

[0061] Such a dwell time has proven particularly useful in practice for processes where the intermediate layers have a low mass, since the ratio of electrostatic adhesion force to the mass of individual intermediate layers is large and, after lifting the intermediate layer located at the top of the stack and over the described dwell time, several other intermediate layers may fall off.

[0062] When the intermediate layer moves towards the transfer point, the transfer unit may be guided horizontally. As previously mentioned, a suitable linear guide may be provided for this purpose.

[0063] Furthermore, it can be provided that the respective layer is moved by means of the transfer unit over a guide edge located between the stack and the transfer point and pointing towards the stack. The respective intermediate layer located at the top of the stack can initially be guided essentially horizontally against the guide edge, so that the respective intermediate layer located at the top of the stack abuts the guide edge.

[0064] Since the guide edge can be inclined, at least in some areas, towards the stack or a feeding station, it may extend over the intermediate layer when in contact with the layer at the top of the stack. If the intermediate layer is then lifted vertically by the transfer unit, the guide edge serves to steer it. As the transfer unit moves towards the transfer station, the guide edge, because its vertical extension is greater than that of the stack, can support the intermediate layer. This reduces the risk of the intermediate layer unintentionally detaching from its one or more contact points.

[0065] From the transfer point, or after the respective intermediate layer has been positioned at the transfer point, one or more intermediate layers are received by a handling device, conveyed by the handling device towards their respective assigned pallets, and placed on the pallet. The handling device may simultaneously receive several intermediate layers from the transfer point and convey them towards their respective pallets. The transfer point can be designed in various configurations to accommodate multiple intermediate layers.

[0066] Furthermore, it is conceivable that several handling devices are present, each controlled to receive intermediate layers from the transfer point and place them onto assigned pallets. The handling device, or the multiple handling devices, may also have one or more suction devices to releasably secure the respective intermediate layers for receipt and conveyance towards the pallet. If multiple handling devices are present, embodiments in which all of the multiple handling devices simultaneously receive at least one intermediate layer from the transfer point have proven particularly effective.

[0067] In the method according to the invention, it is provided that, in order to continue the respective one or more intermediate layers, the handling device is moved obliquely downwards and the transfer point is lowered towards a floor surface.

[0068] Lowering the transfer point towards the floor allows the handling device to move directly towards the pallet. This shortens the path required to guide each intermediate layer and optimizes the placement of each intermediate layer onto its assigned pallet.

[0069] To move the handling device downwards at an angle, one or more actuators, in particular one or more pneumatic and / or hydraulic actuators, can be provided. The lowering of the transfer station can be automated. The one or more actuators can be connected to a control unit which, taking into account the respective positioning of intermediate layers on the transfer station via the transfer unit, causes the transfer station to be lowered.

[0070] If one or more intermediate layers have been received from the transfer station via the handling device, the transfer station can be raised at a specific position of the handling device until it returns to its original position before being lowered. This raising can also be effected by one or more actuators or by one or more pneumatic and / or hydraulic actuators. The transfer station can thus be moved back and forth between at least two stable positions by lowering and raising it.

[0071] In particular, the transfer point may be lowered by means of a pivoting movement around an essentially horizontally oriented axis.

[0072] The horizontally oriented axis can be located at the edge or end of the transfer point. It is conceivable that the horizontally oriented axis is designed as a physical axis and may be connected to the transfer point via one or more hinged joints. The horizontally oriented axis can also be connected to the previously described frame and guided together with the frame when it is raised and lowered.

[0073] Furthermore, in preferred embodiments, the transfer point may be pivoted by an angle fixed between 0° and 90°, and in particular between 30° and 60°. In practice, it has been shown that an angle fixed between 0° and 90°, and in particular between 30° and 60°, is sufficient to guide the handling device towards the respective pallet via the shortest and most direct route possible.

[0074] It is also possible that the lowering of the transfer station towards the floor occurs after the handling unit has received the respective intermediate layer. The intermediate layer may be horizontally aligned on the transfer station before the station is pivoted. With the intermediate layer horizontally oriented, simple and precise receipt via the handling unit is possible. During the movement of the intermediate layer towards the pallet, it can maintain its horizontal orientation while the transfer station assumes a tilted position relative to the horizontal. Before the handling unit moves back from the pallet towards the transfer station, the transfer station can be raised and horizontally aligned again. After horizontal alignment, another intermediate layer is positioned on the transfer station via the transfer unit.

[0075] Furthermore, after the respective intermediate layer has been placed on the pallet, the handling device can be raised vertically or perpendicularly above the level of the transfer station. In this process, the transfer station may be horizontally aligned before the handling device is returned to its original position or raised above the level of the transfer station. Both the raising of the handling device and the horizontal alignment of the transfer station can be controlled by the control unit.

[0076] Raising the transfer station before returning the handling device may be desirable to enable the timely placement of further intermediate layers via the transfer unit. To allow the handling device to return to its original position for receiving additional intermediate layers despite the lifting of the transfer station, embodiments have proven effective in which the transfer station is moved to its horizontal position before the handling device returns, and the handling device is then raised vertically after the respective intermediate layer has been placed on the pallet.

[0077] It is also possible that the transfer station is connected to one or more centering elements which, after the respective intermediate layer has been positioned via the transfer unit and the connection to the respective intermediate layer has been released, align the respective intermediate layer on the transfer station by means of a delivery movement. Once the delivery movement has taken place, the centering elements can remain in their position while the transfer station is lowered. A return movement can occur at the latest after further intermediate layers have been positioned on the transfer station.

[0078] Furthermore, it is conceivable that the respective intermediate layer is received by the at least one transfer unit via one or more gripping devices, transported further via these gripping devices, and placed at the transfer point. As previously mentioned, the one or more gripping devices can, for example, clamp the respective intermediate layer using gripping fingers.

[0079] Furthermore, it is possible that after grasping the respective intermediate layer via the at least one transfer unit, a relative position of the respective intermediate layer to the at least one transfer unit is determined and / or detected by means of at least one sensor, and the direction of movement of the transfer unit is controlled depending on the relative position determined and / or detected by means of the sensor.

[0080] The following exemplary embodiments of the invention and its advantages will be explained in more detail with reference to the accompanying figures. The relative sizes of the individual elements in the figures do not always correspond to the actual relative sizes, as some shapes are simplified and others are enlarged for better illustration. Fig. Figure 1 shows a schematic view of an embodiment of a device according to the invention as well as a first step as it may be in an embodiment of a method according to the invention; Fig. Figure 2 shows a schematic view of the device made of Fig. 1 in the first step from Fig. 1; Fig. Figure 3 shows a schematic view of the device from the preceding figures in a further step, as it may be in an embodiment of a method according to the invention; Fig. Figure 4 shows a schematic top view of the device made of Fig. 3 in the next step from Fig. 3; Fig. Figure 5 shows a schematic view of the device from the preceding figures in a further step, as it may be in an embodiment of a method according to the invention; Fig. Figure 6 shows a schematic top view of the device made of Fig. 5 in a further step from Fig. 5; Fig. Figure 7 shows a schematic view of the device from the preceding figures in a further step, as it may be in an embodiment of a method according to the invention; Fig. Figure 8 shows a schematic top view of the device made of Fig. 7 in the next step from Fig. 7; Fig. Figure 9 shows a schematic view of the device from the preceding figures in a further step, as it may be in an embodiment of a method according to the invention; Fig. Figure 10 shows a schematic top view of the device made of Fig. 9 in the next step from Fig. 9; Fig. Figure 11 shows a schematic view of the device from the preceding figures in a further step, as it may be in an embodiment of a method according to the invention; Fig. Figure 12 shows a schematic top view of the device made of Fig. 11 in a further step from Fig. 11; Fig. Figure 13 shows a schematic view of the device from the preceding figures in a further step, as it may be in an embodiment of a method according to the invention; Fig. Figure 14 shows a schematic top view of the device made of Fig. 13 in a further step from Fig. 13; Fig. Figure 15 shows a schematic view of the device from the preceding figures in a further step, as it may be in an embodiment of a method according to the invention; Fig. Figure 16 shows a schematic view of the device from the preceding figures in a further step, as it may be in an embodiment of a method according to the invention; Fig. Figure 17 shows schematic views of a further embodiment of a device according to the invention; Fig. 18 show the device Fig. 17 in a further procedural step; Fig. 19 show the device from the Fig. 17 and Fig. 18 in a further procedural step; Fig. 20 show the device from the Fig. 17 to 19 in a further procedural step; Fig. 21 show the device from the Fig. 17 to 20 in a further procedural step; Fig. 22 show the device from the Fig. 17 to 21 in a further procedural step; Fig. 23 show the device from the Fig. 17 to 22 in a further procedural step; Fig. 24 show the device from the Fig. 17 to 23 in a further procedural step; Fig. 25 show the device from the Fig. 17 to 23 in a further procedural step; Fig. 26 show the device from the Fig. 17 to 25 in a further procedural step; Fig. 27 show the device from the Fig. 17 to 26 in a further procedural step; Fig. 28 show the device from the Fig. 17 to 27 in a further procedural step;

[0081] Identical reference numerals are used for identical or equivalently functioning elements of the invention. Furthermore, for the sake of clarity, only those reference numerals necessary for describing the respective figure are shown in the individual figures. The illustrated embodiments merely represent examples of how the device or method according to the invention may be configured and do not constitute an exhaustive limitation.

[0082] Fig. Figure 1 shows a schematic view of an embodiment of a device 1 according to the invention and a first step as it may be in an embodiment of a method according to the invention.

[0083] The device 1 is designed for positioning individual interlayers 15 of an interlayer stack 2 onto assigned pallets 9. The interlayer stack 2 comprises a plurality of such interlayers 15, which are separated by the device 1 and subsequently placed on the pallet 9. The pallet 9 is arranged on a storage location 7.

[0084] Stack 2 of interleaved sheets is positioned at a feed station 3. Once all interleaved sheets 15 have been removed from stack 2, stack 2 can be replaced by another stack 2 containing new interleaved sheets 15.

[0085] This can be seen in Fig. 1 also a transfer unit 4, which comprises several contact means 11. Of the contact means 11, in Fig. 1. A contact means 11 is identified. One or more further contact means can be aligned with the contact means 11 – depending on the embodiment – ​​in the direction of the image plane.

[0086] The contact means 11 are designed to releasably grip an intermediate layer 15 arranged at the top of the stack 2 by means of a vacuum. For this purpose, the contact means 11 are first placed onto the intermediate layer 15 arranged at the top of the stack 2 by a pivoting movement, as shown in the following figures, or brought into surface contact with the respective intermediate layer 15 arranged at the top of the stack 2 by means of a pivoting movement.

[0087] It should be noted that the design of transfer unit 4 shown in the present figures is merely exemplary. To implement the present invention, a multitude of other transfer units can be provided which differ structurally and / or in their functional principle from the embodiment shown in the figures of this patent application.

[0088] The device 1 also includes a feed device 21 or several rotating rollers 23 (see Fig. 2), of which in Fig. Figure 1 shows a rotating roller 23. The feed device 21 and the rotating rollers 23 can be lowered vertically onto the stack 2 and onto the respective intermediate layer 15 located on top of the stack 2, as indicated by the arrows, and brought into contact with the respective intermediate layer 15 located on top of the stack 2 under pressure. The rotating movement of the rollers 23 is controlled by the control device S. The raising and lowering of the feed device 21 and the rotating rollers 23 is also initiated by the control device S.

[0089] The feed device 21 or the rotating rollers 23 and the transfer unit 4 are arranged on a common suspension 31. To raise and lower the feed device 21 or the rollers 23, the suspension 31 is moved vertically, so that raising and lowering the feed device 21 or the rollers 23 results in raising and lowering the transfer unit 4.

[0090] The transfer station 5 is also coupled to the suspension 31. If the transfer unit 4 or the feed device 21 is raised and / or lowered, the transfer station 5 is moved vertically upwards or downwards by virtue of its coupling with the suspension 31.

[0091] A guide edge 13, which serves as a stop 14 for intermediate layers 15 and whose function and advantageous use are further described in the following figures, is also rigidly connected to the suspension 31. Several centering elements 22 are also assigned to the transfer point 5.

[0092] Reference numeral 6 also refers to a horizontal axis around which the transfer point 5 can be pivoted, as also shown in the following figures. Fig. 1. The transfer point 5 has assumed a first stable position LP1; by means of a pivoting movement around the axis 6, it can be moved into a second stable position LP2 (see below). Fig. 15) be transferred.

[0093] Fig. Figure 2 shows a schematic view of the device 1. Fig. 1 in the first step from Fig. 1.

[0094] Four contact elements 11 are visible, with the upper pair of contact elements 11 being assigned to a first transfer unit 4 and the other pair of contact elements 11 being assigned to a second transfer unit 4. The two transfer units 4 are shown in the top view as... Fig. 2 not shown, however they can be structured as shown in the illustration. Fig. 1. own.

[0095] The device 1 can therefore have several transfer units 4, which may be asynchronous, but preferably synchronous, via a control device S (see below). Fig. 1) be moved. With several transfer units 4, there can also be several stacks 2 with intermediate layers 15, whereby one of the transfer units 4 takes intermediate layers 15 from each assigned stack 2. Fig. Figure 2 shows two intermediate layers 15 arranged at the top of each stack 2, which can each be received by a transfer unit 4 from the respective stack 2.

[0096] The number of transfer units 4 is merely an example; in various embodiments, more than two transfer units 4 or only one transfer unit 4 may be used. Similarly, the configuration of the transfer units 4 with two contact means 11 represents an exemplary embodiment; in other embodiments, only one contact means or more than two contact means may be used.

[0097] The one that is already in Fig. Figure 1 shows a feed device 21, which in this case consists of two rotating rollers 23. The rollers 23, or rather their longitudinal axes, are arranged at angles to each other. Each roller 23 is in surface contact with an intermediate layer 15, which is arranged at the top of a stack 2, under pressure.

[0098] The transfer station 5 is dimensioned in such a way that several intermediate layers 15 and in this case two intermediate layers 15 can be arranged next to each other and without contact on the transfer station 5 or positioned via the transfer units 4.

[0099] Storage space 7 with pallet 9 from Fig. 1 is in Fig. 2 is not shown for clarity. Several centering elements 22 are assigned to the transfer point 5, some of which are perpendicular to each other. The centering elements 22 are moved forward, their direction of movement indicated by an arrow in the diagram. Fig. As indicated in 2, the one or more intermediate layers 15 arranged on the transfer point 5 can be aligned.

[0100] Fig. Figure 3 shows a schematic view of the device 1 from the preceding figures in a further step, as it may be in an embodiment of a method according to the invention.

[0101] Thus, in Fig. 3. The transfer unit 4 is already lowered vertically in order to be subsequently placed on the respective intermediate layer 15 located at the top of the stack 2. As mentioned previously, the transfer unit 4 is connected to a suspension 31. Lowering the transfer unit 4 is effected by a vertical lowering movement of the suspension 31.

[0102] Since the guide edge 13 or the stop 14, the feed device 21 or the rotating rollers 23 and the transfer station 5 with centering elements 22 are also connected to the suspension 31, the guide edge 13 or the stop 14, the feed device 21 or the rotating rollers 23 and the transfer station 5 with centering elements 22 are lowered together or simultaneously with the suspension 31.

[0103] The vertical lowering movement continues until the feed device 21 or the rotating rollers 23 are pressurized and come into contact with the intermediate layer 15 located at the top of the stack 2. Following this, the feed device 21 or the rollers 23 can be rotated, resulting in horizontal guidance of the respective intermediate layer 15 located at the top of the stack 2 against the guide edge 13, which serves as a stop 14.

[0104] The stop 14 provides a flat support for the respective intermediate layer 15 arranged at the top of the stack 2, so that the respective intermediate layer 15 arranged at the top of the stack 2 is aligned at the stop 14 by means of a horizontal movement by the feed device 21 or the rotating rollers 23.

[0105] The transfer station 5 remains in its first stable position LP1 and is horizontally oriented. The horizontal guidance of the intermediate layer 15, located at the top of the stack 2, via the feed device 21 or the rotating rollers 23 is effected by the control device S, provided that the feed device 21 or the rotating rollers 23 are pressurized and brought into surface contact with the respective intermediate layer 15 located at the top of the stack 2.

[0106] Fig. Figure 4 shows a schematic top view of the device 1. Fig. 3 in the next step from Fig. 3.

[0107] Compared to Fig. 2 is in Fig. It is clearly visible that the intermediate layers 15, each located at the top of the stack 2, have undergone a horizontal movement by the feed device 21 or the rotating rollers 23 and are now located within the detection range of the contact means 11. The centering elements 22 have not yet moved.

[0108] Fig. Figure 5 shows a schematic view of the device 1 from the preceding figures in a further step, as it may be in an embodiment of a method according to the invention.

[0109] In the step from Fig. In step 5, the contact elements 11 of the transfer unit 4 were already placed on the intermediate layer 15 located at the top of the stack 2. The feed device 21 and / or the rollers 23 continue to rotate. Since the respective intermediate layer 15 rests against the guide edge 13 and / or the stop 14 before the transfer unit 4 is placed on it, a pivoting movement of the transfer unit 4 and / or the contact elements 11 is sufficient to place the transfer unit 4 with its contact elements 11 onto the intermediate layer 15 located at the top of the stack 2.

[0110] The placement of the transfer unit 4 or the contact means 11 onto the intermediate layer 15 arranged at the top of the stack 2 is determined by the control device S. The control device S takes into account a prior pressurized contact of the feed device 21 or the rotating rollers 23 with the intermediate layer 15 arranged at the top of the stack 2, so that the placement of the transfer unit 4 only occurs when the intermediate layer 15 arranged at the top of the stack 2 is abutting the guide edge 13 or the stop 14.

[0111] Fig. Figure 6 shows a schematic top view of the device made of Fig. 5 in the next step from Fig. 5. As in Fig. As can be clearly seen, the intermediate layers 15 were removed from their position. Fig. 4 are guided further horizontally by means of the feed device 21 or the rotating rollers 23 and are now at the guide edge or at the stop 14 (see Fig. 5) on.

[0112] The contact elements 11 are now placed on the respective intermediate layer 15 and have gripped the respective intermediate layer 15 by means of negative pressure. No further movement of the centering elements 22 has yet taken place.

[0113] Fig. Figure 7 shows a schematic view of the device 1 from the preceding figures in a further step, as it may be in an embodiment of a method according to the invention.

[0114] The intermediate layer 15, located at the top of stack 2, was lifted from stack 2 by means of the transfer unit 4. The lifting or separation of the intermediate layer 15 from stack 2 is effected by a pivoting movement of the transfer unit 4 or by a pivoting movement of the contact means 11 of the transfer unit 4 and is brought about via the control device S.

[0115] Fig. Figure 7 also shows that even when the intermediate layer 15 arranged at the top of the stack 2 is lifted or separated from the stack 2, the feed device 21 or the rollers 23 continue to rotate.

[0116] In various embodiments, it is conceivable that the transfer unit 4 remains in its position for a certain dwell time after the intermediate layer 15 is lifted from the stack 2. During this time, further intermediate layers 15, which are attached to the intermediate layer 15 located at the top of the stack 2, can fall off due to electrostatic adhesion to the intermediate layer 15 located at the top of the stack 2. The dwell time is stored in the control unit S, so that the stationary state of the transfer unit 4 is determined by the control unit S.

[0117] When the intermediate layer 15, located at the top of stack 2, is lifted from stack 2, it slides along the guide edge 13. The guide edge 13 is inclined in certain areas over the intermediate layer 15. Thus, when lifted by the transfer unit 4, the intermediate layer 15 is curved, at least in the area where it is in contact with the guide edge 13, until it completely passes the guide edge 13. Any additional intermediate layers 15 that may be adhering to the intermediate layer 15 can thereby fall off the intermediate layer 15 that is directly connected to the transfer unit 4.

[0118] When the intermediate layer 15, located at the top of the stack 2, is lifted, the transfer point 5 remains in its first stable position LP1 and has not yet been pivoted around the horizontally oriented axis 6.

[0119] Fig. Figure 8 shows a schematic top view of the device 1. Fig. 7 in the next step from Fig. 7. They can be recognized, as in Fig. 6, again the centering elements 22, whose position remains unchanged. Therefore, no adjustment movement of the centering elements 22 has yet taken place.

[0120] Fig. Figure 9 shows a schematic view of the device 1 from the preceding figures in a further step, as it may be in an embodiment of a method according to the invention.

[0121] As indicated by the arrow, the transfer unit 4 and the intermediate layer 15, which is connected to the contact means 11 of the transfer unit 4, are guided towards the transfer point 5. For this purpose, the transfer unit 4 is moved horizontally and may, if applicable, be connected to a linear guide not shown in the figures, as described in the patent application.

[0122] The horizontal movement of the transfer unit 4 takes place after the intermediate layer 15 has been fixed to the contact means 11 and after the previously described lifting of the intermediate layer 15, which is arranged at the top of the stack 2, from the stack 2.

[0123] The position of the centering elements 22 remains unchanged, and the transfer point 5 remains in the first stable position LP1. There has been no pivoting about the horizontal axis 6.

[0124] During the guiding of the intermediate layer 15 towards the transfer point 5, the respective intermediate layer 15 is supported by the guide edge 13. This reduces the risk of the intermediate layer 15 unintentionally detaching from the contact elements 11 of the transfer unit 4.

[0125] Fig. Figure 10 shows a schematic top view of the device 1. Fig. 9 in the next step from Fig. 9. It can be seen that the two transfer units 4, or the transfer unit 4 with the above pair of contact means 11 and the transfer unit 4 with another pair of contact means 11, each move an intermediate layer 15 simultaneously in the direction of the transfer point 5.

[0126] In each case, another intermediate layer 15 of the respective stack 2 is exposed, so that the respective transfer unit 4 can receive another intermediate layer 15 from stack 2 after positioning the respective intermediate layer 15 on the transfer point 5.

[0127] Fig. Figure 11 shows a schematic view of the device 1 from the preceding figures in a further step, as it may occur in an embodiment of a method according to the invention. The intermediate layer 15 is now almost completely moved via the transfer unit 4 towards the transfer point 5, but the fixation of the intermediate layer 15 to the transfer unit 4 via the contact means 11 is still formed. The transfer point 5 is still in the first stable position LP1 and is horizontally oriented; no adjustment movement of the centering elements 22 has taken place.

[0128] Fig. Figure 12 shows a schematic top view of the device 1. Fig. 11 in a further step from Fig. 11. Also in Fig. Figure 12 clearly shows that the intermediate layers 15 have been completely moved via the transfer unit 4 towards the transfer point 5. Further intermediate layers 15 of the respective stack 2 are now completely exposed.

[0129] Fig. Figure 13 shows a schematic view of the device 1 from the preceding figures in a further step, as it may be in an embodiment of a method according to the invention.

[0130] The connection between the contact means 11 and the transfer unit 4 has already been released, so that the intermediate layer 15 is completely positioned on the transfer point 5.

[0131] Following this, the transfer unit 4 can be moved horizontally back towards the stack 2 in order to receive another intermediate layer 15 arranged at the top of the stack 2. Fig. Figure 13 also shows that the feed device 21 or the rollers 23 are already rotated when the transfer unit 4 is returned in the direction of the stack 2 and thus guide the intermediate layer 15 arranged at the top of the stack 2 horizontally against the stop 14.

[0132] The next step is... Fig. 13. A delivery movement of the centering elements 22 takes place, which aligns the intermediate layers 15 of the transfer station 5 on the transfer station 5. The delivery movement of the centering elements 22 can take place simultaneously with the commencement of the return movement of the transfer unit 4 or at least approximately immediately after the connection between the contact means 11 and the intermediate layer 15 is broken.

[0133] Fig. Figure 14 shows a schematic top view of the device 1. Fig. 13 in a further step from Fig. 13. Also in Fig. Figure 14 clearly shows the adjustment movement of the centering elements 22. As shown in the schematic representation from Fig. As shown in Figure 13, the centering elements 22 each provide a flat surface for the intermediate layers 15.

[0134] As mentioned previously, after the respective intermediate layer 15 has been fully positioned at the transfer point 5, the transfer units 4 are returned towards the respective stack 2. Fig. Figure 4 indicates that the return of the two transfer units 4 also occurs synchronously or simultaneously.

[0135] Fig. Figure 15 shows a schematic view of the device 1 from the preceding figures in a further step, as it may be in an embodiment of a method according to the invention.

[0136] The intermediate layer 15 was received by a handling device 30. The handling device 30 also has suction heads by means of which it holds the intermediate layer 15 securely as it is transferred to its assigned pallet 9.

[0137] Immediately after the intermediate layer 15 is received from the transfer station 5 by the handling device 30, the transfer station 5 is lowered towards a floor surface. In this case, the lowering is achieved by pivoting the transfer station 5 about the horizontal axis 6. The direction of movement, or pivoting direction, of the transfer station 5 is indicated by an arrow, to which reference numeral 32 refers. The pivoting of the transfer station 5, as well as the receipt of the intermediate layer 15 from the transfer station 5 and its transfer towards the pallet 9, are initiated by the control device S.

[0138] By lowering or pivoting the transfer station 5 about the horizontally oriented axis 6, it is advantageously possible to guide the handling device 30 obliquely downwards towards the pallet 9. The direction of movement of the handling device 30 is indicated by an arrow, to which reference numeral 34 refers. After the pivoting process, the transfer station 5 has assumed a second stable position LP2, in which the transfer station 5 is inclined relative to a horizontal. The pivoting is performed through an angle of approximately 45°.

[0139] Due to the possible swiveling movement of the transfer point 5 and the inclined movement of the handling device 30 with the intermediate layer 15, the intermediate layer 15 can be guided directly towards the pallet 9, thus enabling the respective intermediate layer 15 to be placed on the pallet 9 in a time-optimized manner.

[0140] Although in Fig. Figure 15 shows only one handling device 30; however, it is conceivable that several handling devices 30 are present, the potentially synchronous movement of which is specified by the control device S and which are each designed to receive and position intermediate layers on an associated pallet 9. It is clear to the person skilled in the art that the number of handling devices 30 can be selected arbitrarily and depending on the desired throughput. For example, the number of handling devices 30 can correspond to the number of transfer units 4. The movement of the transfer units 4 is coordinated with the movement of the handling devices 30 and is initiated by means of the control device S.

[0141] Fig. Figure 16 shows a schematic view of the device 1 from the preceding figures in a further step, as it may be in an embodiment of a method according to the invention.

[0142] Fig. Figure 16 shows that the transfer point 5 was raised before the handling device 30 was returned towards the stack 2, or that before the handling device 30 was returned towards the stack 2, it was swung back into the first stable position LP1 with a horizontal orientation.

[0143] This allows another intermediate layer 15 to be transferred from stack 2 to transfer station 5 via transfer unit 4 as quickly as possible. Such a prompt return to the starting position is desirable and advantageous in order to carry out the process as efficiently as possible.

[0144] To avoid colliding with the transfer station 5, which has already been pivoted back into the horizontal stable position LP1, the handling device 30 can be raised vertically after the respective intermediate layer 15 has been placed on the pallet 9. It is conceivable that, after vertical raising, the handling device 30 is guided horizontally towards the transfer station 5 in order to receive another intermediate layer 15 from the transfer station 5 and, after the transfer station 5 has pivoted (see figure 1), Fig. 15) to guide it towards the pallet 9 using the handling device 30.

[0145] The handling device 30 can be connected to the control device S, which specifies the vertical and inclined movement of the handling device 30 in the direction of the floor surface depending on the respective position LP1 or LP2 of the transfer point 5.

[0146] Fig. Figure 17 shows schematic views of a further embodiment of a device 1 according to the invention. The device 1 according to the exemplary embodiment from the Fig. 17 to 28 is intended for separating individual intermediate layers 15 from an intermediate layer stack 2 and positioning them on a transfer point 5.

[0147] The transfer point 5 is also present in the embodiment consisting of the Fig. 17 to 28 can be pivoted or lowered about a horizontally oriented axis, as already shown in the embodiment from the preceding figures. The pivoting movement and the handling device 30 are shown in the Fig. Items 17 to 28 are not shown, but are included in the embodiment shown below. Fig. 17 to 18 likewise according to the embodiment from the preceding Fig. 1 to 16 available.

[0148] When displayed from Fig. 17. The intermediate layer stack 2 is not yet positioned in the area of ​​the feed station 3. However, the intermediate layer stack 2, together with the respective layers 15, is present in all subsequent Fig. Numbers 18 to 28 are shown as examples.

[0149] This can be seen in the Fig. 17 further a transfer unit 4 which has several contact means 11. Furthermore, the transfer unit 4 is pivotable about a substantially horizontally oriented axis which points in the direction of the image plane, together with the contact means 11.

[0150] The top view from Fig. Figure 17B shows the position of the contact means 11. Two contact means 11 are assigned to each transfer unit 4, so that for the embodiment from the Fig. Figures 7 to 18 show two transfer units 4 that are guided in parallel. The assignment of two contact means 11 to each transfer unit 4 is merely an example; in other embodiments, a transfer unit 4 may also have more than two or even just one contact means 11. In this case, the contact means 11 are designed as suction devices and fix the respective intermediate layer 15 to the transfer unit 4 by means of negative pressure.

[0151] The movement and function of the transfer units 4 are controlled by the control device S. A path of movement is indicated by phantom lines, which the transfer unit 4 follows to receive each intermediate layer 15 located at the top of the stack 2. The transfer unit 4 is thus moved back and forth alternately along the path indicated by phantom lines.

[0152] As can be seen, the transfer unit 4 is initially guided horizontally until it is above the stack 2 or in the area of ​​the feed station 3. The transfer unit 3 is then lowered vertically onto the respective intermediate layer 15 located on top of the stack 2.

[0153] After receiving the respective intermediate layer 15 arranged at the top of the stack 2 and fixing the intermediate layer 15 to the respective transfer unit 4 via the contact means 11, the transfer unit 4 is lifted vertically and then moved horizontally towards a gripping device 37, which will be described in more detail below. As soon as the transfer unit 4 has the intermediate layer 15 located at the top of the stack 2, the intermediate layer 15 is moved horizontally towards a gripping device 37, which will be described in more detail below. Fig. Once the position shown in 17 is reached, the material is again returned towards stack 2 for the purpose of receiving another intermediate layer 15 arranged at the top of stack 2.

[0154] With regard to the multiple or the two transfer units 4, in the exemplary embodiment, the Fig. Figures 17 to 28 provide that the transfer units 4 are guided synchronously and in parallel. However, it is also conceivable that in further embodiments the multiple transfer units 4 are guided asynchronously, so that the multiple transfer units 4 receive intermediate layers 15 from the respective stack 2 and separate them from the respective stack 2 at different times.

[0155] A guide edge 13 is also present, which is designed as a stop 14 for the intermediate layer stack 2. The guide edge 13 or the stop 14 is, as can be seen from the overall view of the Fig. 20 and Fig. As can be seen in Figure 21, the guide edge 13 is horizontally movable to make surface contact with the respective stack of intermediate layers 2. Furthermore, the guide edge 13 or the stop 14 is inclined relative to a vertical and forms an obtuse angle with the vertical. The advantageous technical effect resulting from the inclination of the guide edge 13 or the stop 14 is further illustrated and described in detail in the following figures.

[0156] Furthermore, a support 26 is provided, which can be moved horizontally relative to the guide edge 13 or the stop 14. The support 26 also forms surface contact with the intermediate layer stack 2 when moved horizontally. Thus, the intermediate layer stack 2 is positioned between the guide edge 13 or the stop 14 and the support 26 with surface contact on both sides, so that when individual layers 15 are separated from the stack 2, further disorientation of layers 15 on the stack 2 is prevented. This facilitates the separation of individual intermediate layers 15.

[0157] A touch sensor 29 or an adjustment plate is operatively connected to the control unit S. The touch sensor 29 is designed to detect the vertical position of the respective intermediate layer 15 arranged at the top of the stack 2 by means of contact. Depending on the position detected by the touch sensor 29, the suspension 31, to which the transfer unit 4 is coupled, is moved vertically, if necessary, to allow the transfer unit 4 to be placed onto the respective intermediate layer 15 arranged at the top of the stack 2.

[0158] Since two stacks 2 are provided, each of which receives a transfer unit 4 intermediate layers 15, a touch sensor 29 is assigned to each transfer unit 4 or each stack 2. In the schematic top view from Fig. The two touch sensors 29 can be seen in 17B.

[0159] Furthermore, the device 1 comprises several gripping devices 37, which receive the respective intermediate layer 15 from the transfer unit 4 and transport it further towards the transfer point 5. In the exemplary embodiment from the Fig. 17 to 28 there are two parallel guided gripping devices 37, with each gripping device 37 having two gripping elements 39 assigned to it.

[0160] Just as with the one in the Fig. The number of gripping elements 39 in the transfer unit 4 shown in Figure 7 is merely an example. In preferred embodiments, the gripping elements 39 can be designed as gripping fingers which clamp and fix the respective intermediate layer 15 after receiving it from the respective transfer unit 4.

[0161] Since the transfer unit 4 can be moved back towards the stack 2 after the respective intermediate layer 15 has been received by the gripping device 37, the process can be implemented with one or more gripping devices 37 at an increased throughput. To move the respective intermediate layer 15 towards the transfer station 5, the gripping device 37 is moved horizontally. A linear guide or the like can also be provided for this purpose. The position intended for the respective intermediate layers 15 at the transfer station 5 is shown in the schematic top view. Fig. 17B indicated by means of phantom lines. If one or more intermediate layers 15 are located in the Fig. 17B, ​​the position indicated by phantom lines, can be represented by one or more in the Fig. 17 handling devices not shown 30 are picked up from the transfer point 5, the transfer point 5 is swivelled and the intermediate layers 15 are placed on the respective pallet 9 (see Fig. 1) be placed.

[0162] A suspension 31 is arranged on a column 111 that can be raised and lowered vertically. The support 26, the touch sensors 29, the transfer units 4, and the gripping devices 37 are coupled to the suspension 31. When the suspension 31 is raised or lowered vertically, the support 26, the touch sensors 29, the transfer units 4, and the gripping devices 37 are moved vertically simultaneously with the suspension 31.

[0163] Fig. 17B further indicates that the suspension 31 is designed as a liftable and lowerable frame construction which extends completely around the feed point.

[0164] Fig. Figure 18 shows device 1. Fig. 17 in a further procedural step. Fig. Figure 18A shows a schematic side view, while in Fig. Figure 18B shows a schematic top view of the embodiment.

[0165] A stack 2 with intermediate layers 15 is now positioned in the area of ​​the feed station 3. The stack 2 comprises a multitude of intermediate layers 15 arranged on a pallet 19. The guide edge 13, designed as a stop 14, has not yet come into surface contact with the stack 2 or with the intermediate layers 15 of the stack 2. The transfer units 4 and the gripping devices 37 are stationary until this point. The control unit S can be used to initiate the process from this state. Fig. 18A and Fig. 18B now initiates an interlayer separation or a separation of individual interlayers 15 from the respective stack 2. Fig. Figure 18 thus shows an initial state as it may be before the start of an interlayer separation.

[0166] If the simultaneous separation of interlayers 15 is planned for several stacks 2, the stacks 2 can have an identical vertical extent or an identical height at the start of an interlayer separation. Several such stacks 2 of interlayers 15 can therefore have an identical number of interlayers 15.

[0167] Fig. Figure 19 shows the device 1 from the Fig. 17 and Fig. 18 in a further process step. At the beginning of the interlayer separation, or at the beginning of the separation of individual interlayers 15 from the stack 2, the suspension 31 is raised vertically along the column 111 until the transfer unit 4, the support 26, the touch sensors 29, and the gripping device 37 are all positioned above the stack 2. The stack 2 with the interlayers 15 remains stationary in its position on the feed station 3.

[0168] The vertical lifting of the suspension 31 is controlled via the control device S and can be effected by one or more actuators, such as cylinders, motors or the like.

[0169] Fig. 20 show the device 1 from the Fig. 17 to 19 in a further procedural step. Starting from the position of the suspension 31 from the Fig. 19 the suspension 31 was moved vertically into the position from the Fig. The lowering was effected via the control device S and can occur until the touch sensor 29 comes into contact with the respective intermediate layer 15 arranged at the top of the stack 2. The position of the respective intermediate layer 15 arranged at the top of the stack 2 is then known, so that the transfer unit 4 can subsequently be lowered onto the stack 2 and receive the respective intermediate layer 15 arranged at the top of the stack 2 via its contact means 11.

[0170] Fig. Figure 20B also shows that two stacks 2 are positioned adjacent to each other in the feed area 3, with each stack 2 having its own upper intermediate layer 15. Each stack 2 has its own touch sensor 29, which detects the position of the intermediate layer 15 located at the top of the stack 2. Each stack 2 also has its own transfer unit 4 to separate the intermediate layer 15 located at the top of the respective stack 2. Each stack 2 also has its own gripping device 37 to transport the intermediate layer 15 located at the top of the respective stack 2 after separation towards the transfer station 5 and to position it at the transfer station 5. The number of stacks 2, the number of associated transfer units 4, and the number of gripping devices 37 are to be understood as examples.In further embodiments, more than two stacks 2 or only one stack 2 can be provided, so that the device 1 according to the invention is not limited to an intermediate layer separation of two stacks 2.

[0171] Fig. 21 show the device 1 from the Fig. 17 to 20 in a further procedural step.

[0172] The transfer unit 4 was now lowered vertically onto the topmost intermediate layer 15 of the respective stack 2 and is in surface contact with the intermediate layer 15. A summary of the Fig. 20 and Fig. Figure 21 further indicates that the suspension 31 was not moved in this process. The vertical movement of the transfer unit 4 during lowering therefore occurs relative to the suspension 31. For example, the transfer unit 4 can be connected to one or more actuators or pneumatic cylinders (not shown) which cause the vertical lowering of the transfer unit 4 in the direction of the respective intermediate layer 15 arranged at the top of the stack 2.

[0173] The vertical lowering of the transfer unit 4 is again specified or initiated by the control unit S. Since the control unit S, as mentioned previously, is connected to the touch sensors 29, the distance that the transfer unit 4 must travel during vertical lowering is known. As individual intermediate layers 15 are successively separated from the stack 2, the level or height of the stack 2 decreases. However, the touch sensors 29 remain in continuous surface contact with the respective intermediate layer 15 located at the top of the stack 2, so that the position or vertical orientation of the respective intermediate layer 15 at the top of the stack 2 is determined in real time and transmitted as information from the touch sensors 29 to the control unit S.

[0174] To ensure that the touch sensors 29 remain in continuous contact with the respective intermediate layer 15 arranged at the top of the stack 2, even as the stack 2 decreases in height, the suspension 31 is lowered stepwise along with the touch sensors 29. The lowering of the suspension 31 to maintain surface contact between the touch sensors 29 and the respective intermediate layer 15 at the top of the stack 2 can be controlled by the control unit S. The control unit S can lower the suspension 31 if there is no surface contact between the touch sensors 29 and the respective intermediate layer 15 at the top of the stack 2, but it can prevent lowering if surface contact between the touch sensors 29 and the respective intermediate layer 15 at the top of the stack 2 is established.

[0175] During the Fig. In the position shown in Figure 21, the contact means 11 of the transfer unit 4 are in surface contact with the intermediate layer 15 located at the top of the stack 2.

[0176] A summary of Fig. 20 and Fig. Figure 21 also shows that both the support 26 and the guide edge 13, designed as a stop 14, have been moved horizontally and are now in contact with the stack 2 or with intermediate layers 15 of the stack 2. The intermediate layers 15 of the stack 2 are thereby fixed in place, thus preventing any unintentional disorientation of individual intermediate layers 15 of the stack 2.

[0177] Both the support 26 and the guide edge 13, designed as a stop 14, provide a flat surface for the stack 2 or for intermediate layers 15 of the stack 2. The guide edge 13, designed as a stop 14, is inclined in certain areas relative to the support 26. The inclined area of ​​the guide edge 13 extends over the stack 2 or over the intermediate layers 15 of the stack 2. An effect of this when separating an intermediate layer 15 located at the top of the stack 2 from the stack 2 is described in the following sections. Fig. 22 and Fig. 23 shown and described in detail.

[0178] The schematic top view from Fig. Figure 21B also shows that the support 26 and the guide edge 14, designed as a stop 13, can be in surface contact with several stacks 2 or can fix intermediate layers 15 of several stacks 2. In practice, several guide edges 13 or several supports 26 can also be provided, with each stack 2 having its own guide edge 13 or its own support 26. The gripping devices 37 are in the Fig. 21 remain unmoved and are in a waiting position.

[0179] The separation of the respective intermediate layer 15 from the stack 2 is carried out by considering the Fig. 22 to 24 illustrate this. Thus, transfer unit 4 leads from the one into the Fig. The position shown in 21 initially exhibits a rotational movement around a horizontal axis oriented towards the image plane.

[0180] The transfer unit 4 rotates the contact means 11, which continue to fix the intermediate layer 15 arranged at the top of the stack 2.

[0181] It is also possible that the transfer unit 4, after its rotation, remains stationary for a certain period of time or stays in its respective position. For example, the transfer unit 4 may, for instance, be located in the Fig. 23. This allows any unintended intermediate layers 15 picked up by the transfer unit 4 to detach from the transfer unit 4, as any electrostatic adhesion that may have formed between several layers 15 picked up by the transfer unit 4 can be overcome during the specified dwell time, during which the transfer unit 4 is not moved. The specific dwell time can, in turn, be set via the control unit S.

[0182] During rotating movement and / or vertical lifting of the transfer unit 4 (see below). Fig. 23 and Fig. 24), the respective intermediate layer 15, fixed to the transfer unit 4, is moved sliding along the inclined guide edge 13, which is designed as a stop 14, while maintaining surface contact. Since this involves a deformation of the respective intermediate layer 15, several interlocking intermediate layers 15 may be separated by the movement of the intermediate layer 15 along the inclined guide edge 13.

[0183] The relative position of the support 26 and the guide edge 13 designed as a stop 14 is not changed continuously during the separation of individual intermediate layers 15 from the stack 2, so that the guide edge 13 tilts continuously over the stack 2 or over the intermediate layer 15 arranged at the top of the stack 2 during the separation process.

[0184] Fig. Figure 25 shows the device 1 from the Fig. 17 to 24 in a further procedural step. Fig. Figure 25 shows a horizontal movement of the transfer units 4 in the direction of the gripping devices 37. For this purpose, both transfer units 4 with their respective intermediate position 15 are moved in parallel.

[0185] How a synthesis of Fig. 24 and Fig. As illustrated in Figure 25, the transfer units 4 were rotated back before their horizontal movement, so that the transfer units 4 have the rotation position formed before being lowered onto the stack 2.

[0186] The transfer units 4 reach their respective gripping devices 37 in an area located between the feed station 3 and the transfer station 5. Here, the intermediate layers 15 are received by the respective gripping device 37 and clamped to it. Once the clamping is complete, the connection between the contact elements 11 of the transfer unit 4 and its respective intermediate layer 15 can be released.

[0187] Since a fixed and releasable connection is formed between the intermediate layers 15 and the gripping devices 37 due to the fixing, the transfer unit 4 can be moved back towards the stack 2 for the purpose of receiving another intermediate layer 15 arranged at the top of the stack 2. In doing so, the transfer unit 4 follows the phantom lines in Fig. 25A indicated path. The movement is, in summary, the Fig. 26 to 27 can be seen. After a horizontal movement, as previously described, a vertical lowering movement takes place in the direction of the respective intermediate layer 15 located at the top of the stack 2.

[0188] As seen particularly in the top view from Fig. As can be clearly seen in Figure 25B, the transfer units 4 can be moved obliquely from the feed station 3 or from the stack 2 towards the gripping devices 37. Since the gripping devices 37 are only horizontally movable, the intermediate layers 15 must be passed to the gripping devices 37 in alignment with their specific orientation at the transfer station 5. In practice, it has been shown that despite the intermediate layers 15 being fixed by the guide edge 13, which serves as a stop 14, and the support 26, the individual intermediate layers 15 are often received inaccurately by the respective transfer unit 4. Preferably, one or more sensors can therefore be provided which determine the relative position of the respective intermediate layer 15 to the transfer unit 4 after it has been received. The direction or path of the further movement of the transfer unit 4 after receiving the respective intermediate layer 15 can then be selected accordingly.It is specified that the intermediate layer 15 is aligned with its respective designated position on the transfer point 5 in the top view. Precise alignment of the intermediate layers 15 on the transfer point 5 can be ensured with such embodiments.

[0189] The one or more sensors, which are not shown in the figures of the present patent application, can, for example, be designed as light barriers. In particular, the sensors can be fixed to one or more transfer units 4 in order to accurately detect the respective relative position of the intermediate layers 15 temporarily fixed via the one or more transfer units 4.

[0190] Fig. 26 show the device 1 from the Fig. Figures 17 to 25 illustrate a further process step. This further clarifies the receipt of the intermediate layers 15 by the gripping devices 37.

[0191] The transfer units 4 are rotated again around axis A by the gripping devices 37 when receiving the intermediate layers 15 (see figure). Fig. 5) rotates.

[0192] Fig. 27 show the device 1 from the Fig. 17 to 26 in a further process step. Once the intermediate layers 15 have been received by the gripping device 37 and the connection between the contact means 11 of the transfer units 4 and the intermediate layers 15 has been released, the transfer units 4 and the gripping devices 37 can be moved apart or away from each other in opposite directions.

[0193] The transfer units 4 are moved back towards the stack 2 in a horizontal movement. The gripping devices 37 then move in a parallel horizontal movement towards the transfer station 5 to position the intermediate layers 15 there.

[0194] Fig. Figures 28 show the device 1 from the Fig. 17 to 27 in a further process step. If the gripping devices 37 are located in the area of ​​the transfer point 5, the clamping connections between the gripping devices 37 and the respective intermediate layers 15 are released. The intermediate layers 15 are then positioned in the area of ​​the transfer point 5.

[0195] Only after the intermediate layers 15 have been positioned in the area of ​​the transfer station 5 are the transfer units 4 lowered vertically to receive another intermediate layer 15 arranged at the top of the stack 2. At the same time, the gripping devices 37 are moved towards the transfer units 4 to receive another intermediate layer 15 from the transfer units 4, clamp it in place, transport it towards the transfer station 5 and then position it at the transfer station 5.

[0196] The invention has been described with reference to a preferred embodiment. However, it is conceivable to a person skilled in the art that modifications or changes to the invention can be made without departing from the scope of protection of the following claims. Reference symbol list 1 Device 2 stacks 3 Feeding station 4 transfer units 5 handover point 6 Horizontally oriented axis 7 storage spaces 9 pallets 11 Contact agents 13 Guide edge 14 attacks 15 Intermediate layer 19 pallets 21 Feed device 22 Centering element 23 rollers 26 support 29 Touch sensor 30 handling equipment 31 Suspension 32 Direction of movement 34 Direction of movement 37 Gripping device 39 Gripping element 111th pillar LP1 First stable position LP2 Second stable position S control unit

Claims

[1] Device (1) for positioning individual intermediate layers (15) of an intermediate layer stack (2) on associated pallets (9), comprising - at least one transfer unit (4) comprising one or more contact means (11) for releasably gripping an intermediate layer (15) arranged at the top of the stack (2) and movable from the stack (2) in the direction of a transfer station (5) for the respective intermediate layer (15), and - at least one handling device (30) which is designed to receive at least one intermediate layer (15) from the transfer station (5) and to further guide and define the positioning of the at least one intermediate layer (15) on the respective pallet (9), characterized by , that - the handling device (30) has a freedom of movement with an oblique orientation towards a floor surface for the purpose of further movement and - the transfer station (5) is designed to assume at least two stable positions (LP1, LP2), wherein the transfer station (5) has a substantially horizontal orientation in a first (LP1) of the at least two stable positions (LP1, LP2) and is inclined relative to the horizontal in a second (LP2) of the at least two stable positions (LP1, LP2). [2] Device according to claim 1, wherein the transfer station (5) is pivotable about a substantially horizontally oriented axis (6) for changing from the first position (LP1) to the second position (LP2) and for changing from the second position (LP2) to the first position (LP1). [3] Device according to claim 1 or claim 2, wherein the handling device (30) is designed to be movable in the vertical direction. [4] Device according to one or more of claims 1 to 3, in which one or more movable centering elements (22) for the defined alignment of one or more intermediate layers (15) arranged on the transfer station (5) are assigned to the transfer station (5). [5] Device according to one or more of claims 1 to 4, in which the one or more contact means (11) of the transfer unit (4) are formed by at least one suction device for the purpose of fixing the respective intermediate layer (15) arranged on top of the stack (2) via negative pressure. [6] Device according to one or more of claims 1 to 5, comprising a vertically raiseable and lowerable feed device (21), in particular a rotating roller (23), which is brought into surface contact with the respective intermediate layer (15) arranged on top of the stack (2) under pressure. [7] Device according to one or more of claims 1 to 6, comprising at least one guide edge (13) inclined over the intermediate layer stack (2). [8] Device according to claim 7, wherein the at least one guide edge (13) inclined over the intermediate layer stack (2) is movable in the horizontal direction. [9] Device according to one or more of claims 1 to 8, comprising at least one movable gripping device (37) which is designed for the purpose of receiving the respective intermediate layer (15) from the transfer unit (4) and further guiding and positioning the intermediate layer (15) on the transfer station (5). [10] Device according to one or more of claims 1 to 9, with at least one sensor system, via which a relative position of the respective intermediate layer (15) to the transfer unit (4) can be determined and / or detected after gripping via the respective at least one transfer unit (4), and with a control device (S) coupled to the at least one transfer unit (4) and the at least one sensor system, via which a direction of the transfer unit (4) during movement can be predetermined as a function of the relative position determined and / or detected by means of the at least one sensor system. [11] Method for positioning individual intermediate layers (15) of an intermediate layer stack (2) on associated pallets (9), in which - at least one transfer unit (4), which comprises one or more contact means (11) for releasably gripping an intermediate layer (15) arranged at the top of the stack (2), is placed on the intermediate layer stack (2), - a detachable connection is established between the intermediate layer (15) arranged at the top of the stack (2) and the one or more contact means (11), - the respective intermediate layer (15) is then moved with the aid of the at least one transfer unit (4) in the direction of a transfer location (5) and placed on the transfer location (5) and - one or more intermediate layers (15) are received from the transfer station (5) via at least one handling device (30), via which at least one handling device (30) they are guided further in the direction of the respective assigned pallet (9) and placed on the pallet (9), characterized by , that - in order to further convey the respective one or more intermediate layers (15), the at least one handling device (30) is moved obliquely downwards and the transfer station (5) is lowered towards a floor surface. [12] Method according to claim 11, wherein the transfer station (5) is lowered by means of a pivoting movement about a substantially horizontally oriented axis (6). [13] Method according to claim 11 or 12, wherein the transfer station (5) is pivoted through an angle which is set between 0° and 90° and in particular between 30° and 60°. [14] Method according to one or more of claims 11 to 13, wherein the lowering of the transfer station (5) in the direction of the floor surface takes place after receipt of the respective intermediate layer (15) via the at least one handling device (30). [15] Method according to one or more of claims 11 to 14, in which the handling device (30) is raised vertically and above the level of the transfer station (5) after the respective intermediate layer (15) has been placed on the pallet (9). [16] Method according to one or more of claims 11 to 15, in which the transfer station (5) is connected to one or more centering elements (22) which, after positioning of the respective intermediate layer (15) via the at least one transfer unit (4) and when the connection of the one or more contact means (11) to the respective intermediate layer (15) is removed, bring about an alignment of the respective intermediate layer (15) on the transfer station (5) by means of a feed movement. [17] Method according to one or more of claims 11 to 16, in which the respective transfer unit (4) is lifted after establishing the detachable connection to the respective intermediate layer (15) arranged at the top of the stack (2) and is moved in a sliding manner past a guide edge (13) extending at an incline over the stack (2). [18] Method according to one or more of claims 11 to 17, in which the respective intermediate layer (15) is received by the at least one transfer unit (4) via one or more gripping devices (37), transported further via the one or more gripping devices (37) and deposited on the transfer station (5). [19] Method according to one or more of claims 11 to 18, in which, after gripping the respective intermediate layer (15) via the at least one transfer unit (4), a relative position of the intermediate layer (15) to the at least one transfer unit (4) is determined and / or detected by means of at least one sensor and the direction of movement of the transfer unit (4) is controlled as a function of the relative position determined and / or detected by means of the sensor.

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