Sheet material holder for holding sheet material

Abstract

A sheet material holder (300) for holding a sheet material (2) for a gripping system is described, which is designed to engage the sheet material (2) at a first surface (28) when the sheet material holder (300) holds the sheet material (2), the first surface (28) including at least one first opening (30), and the sheet material holder (300) is designed to be able to eject fluid through the first opening (30) toward the sheet material (2) along a first predetermined ejection direction (32) when the sheet material holder (300) holds the sheet material (2). A gripping system (200) and a placement system (100) having the sheet material holder (300) are also described. A method of loading a sheet material (2) is also provided, which includes moving (502) the loaded sheet material (2) to a loading position while the sheet material (2) is held by the sheet material holder (300), discharging (504) fluid from the first opening (30) toward the sheet material (2), and, during the discharging of the fluid, moving (506) the sheet material holder (300) relative to the sheet material (2) such that the sheet material (2) is loaded from the sheet material holder (300).

Description

[Technical field]

[0001] The present invention relates to a sheet material holder for a gripping system for holding a sheet material.The present invention further relates to a gripping system for holding a sheet material.According to the present invention there is also provided a method for depositing a sheet material. [Background technology]

[0002] In many fields of application, sheet material, such as value documents, paper or film, must be placed in a precise position, for example on a stack of sheet material. Therefore, in the field of value documents, value document cassettes are used, in which the value documents are stored in the form of a stack. Value document cassettes of this kind can be designed in a self-contained device in such a way that the value documents are automatically removed. Value document cassettes can be banknote cassettes, but instead of banknotes, other value documents, such as, for example, vouchers, tickets, cheques, etc., can also be stored in such cassettes. Known banknote cassettes can be used in self-contained devices in which the banknotes are automatically removed from the cassette. A self-contained device of this kind can be, for example, an automated teller machine (ATM), which dispenses a certain amount to a user and credits the dispensed amount to the user's account. This amount is then made up of banknotes that are removed from a cassette accommodated in the ATM and dispensed to the user. Here, it is customary to use at least one dedicated cassette for each denomination.

[0003] An ATM can be designed to accept banknotes inserted by a user, store them in one or more cassettes, and credit the user's account with an amount ascertained during this process. Moreover, as cassettes become emptied over time through dispensing, they must be replaced by other cassettes full of banknotes of the respective denomination. For this purpose, empty or partially empty cassettes must be removed from the ATM and refilled with banknotes to make them available for reuse in the ATM. In either case, the documents of value are placed in the cassettes in the form of stacks.

[0004] In the processing of valuable documents, it is customary to transport them into a value document container before placing them in a sorter or after removing them from the sorter, which, unlike value document cassettes, is not designed for automatic removal of valuable documents in ATMs. For example, in cash centers, banknotes are stored and transported in value document containers that are open at the top so that the value documents can be easily inserted or removed therefrom manually or automatically. The value documents contained in such value document containers can be used to replenish the value document cassettes. In this case too, the value documents must be inserted into the value document container in the form of stacks.

[0005] Typically, a gripper is used to deposit valuable paper. This type of gripper closes like tweezers around a sheet of material (e.g., one or more banknotes) to grip it. The gripper can move the gripped sheet of material to a desired deposit location and then open to deposit the sheet of material at the deposit location. The gripper can then be moved away from the deposit location.

[0006] During the laying down of the sheet material, frictional forces between the sheet material and the open gripper can cause the sheet material to move (partially) together with the gripper from the laying position or to follow the gripper when the gripper is removed from its place or pulled back. These frictional forces can increase, for example, if the laid sheet material is lifted by air. In this case, the already laid sheet material or even other sheet materials already in the laying position can move from the laying position. In particular, while the gripper is moving away from the laying position, the shape of the stack of sheet materials in the laying position can be disturbed such that the lateral edges of the individual sheets of sheet material no longer lie exactly on top of one another. The less accurate the positioning of the sheet material, the more prone to errors during the subsequent removal and further processing of the individual sheet materials. It is to be understood that this problem can be present not only in the field of valuable documents, but more generally in the handling of sheet materials. Summary of the Invention [Problem to be solved by the invention]

[0007] SUMMARY OF THE PRESENT EMBODIMENT It is therefore an object underlying the present invention to provide a sheet material holder and method which allows for accurate placement of the sheet material. [Means for solving the problem]

[0008] According to the invention, this object is achieved by the subject matter of patent claim 1. A corresponding method is the subject matter of an independent method claim. Advantageous developments of the invention are set forth in the dependent claims.

[0009] According to a first aspect, there is provided a sheet material holder for holding a sheet material. This should be interpreted to mean that the sheet material holder is capable of holding the sheet material in a fixed position relative to the sheet material holder. In particular, the sheet material holder is capable of carrying the sheet material.

[0010] The sheet material can be a document of value (e.g., a banknote, a check, a coupon, etc.), a page of paper (e.g., a page of a book), a single sheet of paper, or a single film. The term "sheet material" should be understood to mean a single sheet material, i.e., for example, a banknote, and also multiple sheet materials, i.e., for example, a stack of banknotes or multiple films. Sheet material can also refer to sheet-like electrode elements, such as electrode plates, separator films, combinations of prefabricated electrode plates and separators (monocells), membranes, membrane-electrode assemblies (MEA), for example for producing automotive batteries.

[0011] The sheet material holder has a first surface. The sheet material holder is designed to engage the sheet material at the first surface when the sheet material holder holds the sheet material. This surface can therefore also be called a contact surface, a support surface or a holding surface. When the sheet material holder carries the sheet material, the sheet material can in particular rest on the first surface.

[0012] The first surface has at least one first opening, preferably a plurality of first openings. The first openings can be, for example, cutouts or drilled holes. The sheet material holder is designed such that, when the sheet material holder holds the sheet material, the fluid can be discharged, for example blown or drained, through the first opening along a first predetermined discharge direction in the direction of the sheet material. This should be interpreted as meaning that, when the sheet material holder holds the sheet material, the fluid can be discharged, for example blown or drained, towards the sheet material. This design allows the fluid to be discharged, for example blown or drained, onto the surface of the sheet material held by it. This reduces the friction between the sheet material holder and the sheet material held by it, like an air cushion. By appropriately selecting the fluid and its discharge speed, as well as by appropriately dimensioning the first openings, it is also possible to control the friction as desired, in particular so that it varies with time. This reduced friction allows the sheet material holder to be moved from the placement position without significantly affecting the position of the sheet material. Finally, the reduced friction therefore allows a precisely positioned placement and release of the sheet material. Furthermore, damage caused by the sheet material holder to the sheet material as it moves is also avoided.

[0013] The fluid can be a liquid (e.g. water, in particular deionized water) or a gas, for example an ionized gas. For example, the gas is a gas mixture, for example an ionized gas mixture, in particular ionized air. The use of an ionized gas makes it possible to reduce the attraction due to electrostatic charge effects between the sheet material and the sheet material holder. If the sheet material comprises sheet-like electrode elements for manufacturing a redox flow battery, the fluid that is drained can be an electrolyte solution used to manufacture the redox flow battery, in particular an electrolyte solution used for the initial filling of the redox flow battery. This simplifies the production process.

[0014] The sheet material holder can be designed such that when the sheet material holder holds the sheet material, the first predetermined ejection direction is in the direction of the normal to the sheet material or extends at an acute angle to the normal to the sheet material, where normal can refer to an area of ​​the sheet material opposite or associated with the first opening. In particular, the acute angle can be between 0° and 45°, preferably between 0° and 30°. These angles have been found to be particularly effective in reducing friction. In particular, angles between 0° and 45° can minimize movement of the sheet material relative to the sheet material holder due to fluid flow.

[0015] The sheet material holder can be designed such that the sheet material is flat (e.g., generally or throughout its surface) and / or extends parallel to the first surface when the sheet material holder holds the sheet material. The first surface can be flat (e.g., generally or throughout its surface), thereby ensuring that a uniform fluid cushion is formed between the sheet material holder and the sheet material as the fluid is expelled. In other words, this configuration can further reduce friction.

[0016] The sheet material holder may have at least one finger. The finger may be designed to extend along the sheet material when the holder holds it. The finger may have or form a first surface or a part of the first surface. Here, the term "form" should be interpreted as meaning that the first surface consists only of one or more surface segments of the finger. Each finger may further have at least one of the first openings. As a preferred option, the first openings are arranged along the length of each finger. In this case, the first openings may be arranged linearly or offset with respect to one another. The length to width ratio of the fingers may be ≧2:1, preferably ≧4:1, in particular ≧6:1, for example 8:1. Non-integer ratios are also possible. This type of finger allows a reliable holding of the sheet material. When the sheet material is held by the fingers, it is possible to minimize the support surface between the sheet material and the sheet material holder.

[0017] In particular, the sheet material holder may include a plurality of such finger members, each of which has (e.g. a part of) the first surface. The finger members may be spaced apart. A plurality of finger members may form the first surface. Here, the term "forming" should be interpreted as meaning that the first surface consists only of one or more surface segments of the finger members. The first surface therefore does not necessarily have to be integral or continuous. The finger members may extend parallel to one another. The finger members may extend in the same plane, in particular in a plane parallel to the first surface. Each of the finger members may be designed to extend along the sheet material when the holder holds it. A plurality or all of the finger members may include one or more of the at least one first opening. As a result, the sheet material may be held much more securely, while at the same time reducing friction is still ensured. The use of a plurality of finger members may also improve the flatness of the held sheet material.

[0018] The sheet material holder can have a second surface. The second surface has, for example, at least one second opening. The sheet material holder can be designed such that when the sheet material holder holds the sheet material, the fluid can be discharged through the at least one second opening from the direction of the sheet material along a second predetermined discharge direction, in particular blown or flowed out. In other words, when the sheet material holder holds the sheet material, the fluid can be discharged through the second opening so that it flows out of the sheet material. This is particularly advantageous when, in the placing position, the sheet material holder comes into contact with an object, the position of which is not to change when the sheet material holder is moved from the placing position, by means of the second surface. Here again, as mentioned above, the discharged fluid can reduce the friction between the sheet material holder and the object in the manner of an air cushion. This object can, for example, be sheet material that has already been placed, stored and arranged in a stack, for example in a value paper cassette to be loaded. Thus, for example, the sheet material holder can be prevented by the second surface from displacing the top sheet of the stack when it is moved from the placing position.

[0019] The first predetermined ejection direction can be different from the second predetermined ejection direction, in particular these directions can be opposite and extend parallel or opposite and extend at an angle (e.g. acute angle). For example, the sheet material holder is designed such that the second predetermined ejection direction is in the direction of the normal of the sheet material or extends at an acute angle to the normal of the sheet material, in particular at up to 45°, when the sheet material holder holds the sheet material. The fluid can be the same fluid that can be ejected or will be ejected through the first opening. The second surface can be located on the opposite side of the sheet material holder or finger from the first surface. This configuration is particularly advantageous when the sheet material is placed on top of an already existing stack of sheet materials. The first surface can be parallel to the second surface. The at least one first opening can be provided opposite the at least one second opening.

[0020] The finger member can have or define (e.g., a portion thereof) a second surface. The finger member can have at least one second aperture. Each of the plurality of finger members can have (e.g., a portion thereof) a second surface. The plurality of finger members can define the second surface. For example, a plurality or all of the finger members can include one or more of the at least one second aperture. This allows for advantageous use of one or more finger members as described above.

[0021] The sheet material holder may comprise a fluid channel, which is partly arranged in the finger-like member and is fluidly (i.e. via a fluid line) connected with at least one first opening or / and at least one second opening. The same can be applied to each of the finger-like members, which comprise one or more of the at least one first opening or / and one or more of the at least one second opening. If the sheet material holder comprises several finger-like members, it may comprise a common supply channel, which is fluidly connected to each of the fluid channels. The supply channel may be arranged inside the finger-like member connection element of the sheet material holder, each of the finger-like members being connected to the finger-like member connection element, in particular fixed thereto or made integrally therewith. This makes it possible to provide a particularly compact and lightweight construction.

[0022] The sheet material holder can be manufactured at least partially, in particular completely, by additive manufacturing methods. Additive manufacturing methods can include material deposition by directed energy input, material extrusion, material deposition by free jet, powder bed based melting, lamination or / and liquid bath photopolymerization. The fluid channels or / and the supply channels can have a cross section that does not require any support structures during the additive manufacturing process. As a result, the sheet material holder can be manufactured simply and cost-effectively, in particular by eliminating additional machining steps for the introduction of the first or second opening, the fluid channels or / and the supply channels.

[0023] According to a second aspect, a gripping system for holding sheet material is provided, said system being designed in particular to grip, transport and release the sheet material. The gripping system comprises a first sheet material holder according to the first aspect and a second sheet material holder according to the first aspect. The first and second sheet material holders may not be the same, in other words they may comprise different features than those mentioned in relation to the first aspect. In particular, it may be sufficient if only one of the two sheet material holders has at least one second opening. This sheet material holder with at least one second opening is preferably a sheet material holder that comes into contact or will come into contact with another object when placing the sheet material.

[0024] The sheet material holders of the gripping system are arranged such that a first surface of the first sheet material holder faces a first surface of the second sheet material holder. The gripping system is designed to hold the sheet material between the first surface of the first sheet material holder and the first surface of the second sheet material holder. This is particularly advantageous when the sheet material is to be transported and placed in a precise position by the gripping system. This arrangement of the two sheet material holders makes it possible to reduce friction with the sheet material on both sides of the held sheet material.

[0025] The sheet material holders can further be arranged such that the first sheet material holder can be moved relative to the second sheet material holder to vary the distance between the first surface of the first sheet material holder and the first surface of the second sheet material holder. The sheet material holders can be arranged such that they can be moved relative to each other along a (for example only one) predetermined axis. In particular, the gripping system can have a translation drive, which is designed to vary the distance between the first surface of the first sheet material holder and the first surface of the second sheet material holder, in particular to shorten it to grip the sheet material by the sheet material holders and to increase it to release the sheet material from the sheet material holders, thereby depositing the sheet material. By increasing the distance between the first surfaces, the gripping system can be moved to an open, i.e. released, state, and by decreasing the distance, the gripping system can be moved to a closed, i.e. gripping or clamped, state. In other words, by varying the distance between the first surfaces, a secure gripping function with two sheet material holders and a reliable depositing process can be provided.

[0026] The sheet material holders can be arranged such that, when the first and second sheet material holders are not holding any sheet material, the first surface of the first sheet material holder is oblique (e.g. at an angle of ≦10°, in particular ≦7.5°, e.g. ≦5°, preferably 4°) with respect to the first surface of the second sheet material holder. In this case, the distal ends of the sheet material holders or of the fingers can be closer to each other than their proximal ends. The system can be designed such that the first surface of the first sheet material holder can be aligned parallel to the first surface of the second sheet material holder against a restoring force. The restoring force can be provided by a force retaining element, e.g. a spiral spring, a leaf spring, a rubber cushion, or any other spring element. The spring force can be provided, for example, by one or more fingers of at least one of the sheet material holders, by bending it. Thereby it can be ensured that the sheet material is held securely and does not fall off the gripping system accidentally. Then, when the sheet material is held between the first sheet material holder and the second sheet material holder, the first surface of the first sheet material holder extends substantially parallel to the first surface of the second sheet material holder.

[0027] According to a third aspect, a depositing system is provided. The depositing system is designed to deposit a sheet material and includes a sheet material holder according to the first aspect or a gripping system according to the second aspect. The depositing system may also include a fluid supply unit, which is fluidly connected to the sheet material holder and is designed to discharge a fluid from at least one first opening in the direction of the sheet material. The system according to the third aspect further includes a movement system, which is designed to move the sheet material holder, in particular along a direction parallel to the sheet material surface. The depositing system further includes a control device. The control device is designed to command the movement system to move the sheet material to a depositing position when the sheet material is held by the sheet material holder. For this purpose, the sheet material holder can be moved by the movement system such that the sheet material is moved to the depositing position. The control device is designed to command a translation drive of the sheet material holder to increase the distance between the sheet material holders to release the sheet material from the sheet material holder. The control device is then designed to command the fluid supply unit to eject, e.g. blow or flow, fluid from the at least one first opening. The control device is further designed to instruct the movement system to move the sheet material holder relative to the sheet material during ejection of fluid so that the sheet material is deposited from the sheet material holder. The control device is preferably designed such that ejection of fluid by the fluid supply unit is only for depositing the sheet material, in particular is initiated before or simultaneously with a step of moving the at least one sheet material holder relative to the sheet material, which is performed for the purpose of depositing.

[0028] The fluid supply unit can further be designed to eject, for example blow or flow, the fluid or the additional fluid from the at least one second opening. The control device can thus be designed to command the fluid supply unit to eject the fluid or the additional fluid from the at least one second opening. The fluid supply unit can include at least one gas valve and at least one connection point for a compressed gas connection. The fluid supply unit can further include a compressed gas source, for example a compressor or a compressed gas cylinder, connected to the compressed gas connection. The movement system can include a robot arm (for example a robot arm movable in multiple axes), a bogie, or a cable-controlled suspended carriage. The movement system can have a translation drive, in particular a spindle drive, which is designed to change the distance between the sheet material holders, in particular between the two first surfaces of the sheet material holders.

[0029] According to a fourth aspect, a method for depositing a sheet material is provided. The method comprises the step of moving a sheet material to a depositing position, the sheet material being held by at least one sheet material holder, in particular by two of the aforementioned sheet material holders, a surface (e.g. a first surface) of the at least one sheet material holder engaging with the sheet material. The sheet material holder can be for example a sheet material holder according to the first aspect, one of the sheet material holders of the gripping system according to the second aspect, or a sheet material holder of the depositing system according to the third aspect. The method also comprises increasing a distance between a first and a second of the at least one sheet material holder, in particular by the gripping system according to the second aspect, to release the sheet material held between the first and the second of the sheet material holders from the sheet material holder. The method further comprises the step of discharging fluid from at least one opening (e.g. first opening) in a surface (e.g. first surface) of the at least one sheet material holder, the fluid being discharged, e.g. sprayed or allowed to flow, in the direction of the sheet material. The method also comprises the step of moving the at least one sheet material holder relative to the sheet material, in particular along a direction parallel to the sheet material surface, during the discharge of fluid, so that the sheet material is deposited from the at least one sheet material holder. Discharging of fluid is preferably initiated only for the deposition of the sheet material, in particular after the sheet material has been moved to the deposition position, e.g. before, during or after the step of increasing the distance.

[0030] The step of draining the fluid is preferably started before or simultaneously with the step of moving at least one sheet material holder with respect to the sheet material (in particular along a direction parallel to the sheet material surface) performed for the purpose of depositing, and is continued during (the entirety of or at least the start of) the relative movement. The step of draining the fluid is preferably performed until the sheet material holder is no longer in contact with the sheet material after depositing the sheet material (while the sheet material holder is being pulled back along the sheet material). This ensures that the sheet material does not slip by the sheet material holder after depositing, in particular when said holder is being moved along a direction parallel to the sheet material surface.

[0031] The method may also be performed by a mounting system according to the third aspect.The control unit of the mounting system according to the third aspect may be designed to control the fluid supply unit and the movement system such that the method according to the fourth aspect is performed.

[0032] The invention will now be described, by way of example only, with reference to the accompanying drawings, in which like reference numerals refer to like structural or / and functional features, in which: [Brief description of the drawings]

[0033] [Figure 1] 1 shows a preferred embodiment of a mounting system. [Diagram 2] 1 shows a preferred embodiment of a sheet material holder. [Diagram 3] 3 shows a cross-sectional view of a finger of the sheet material holder of FIG. 2; [Figure 4] 1 shows a preferred embodiment of a gripping system. [Diagram 5] A preferred embodiment of the method is shown. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0034] Figure 1 shows a preferred embodiment of a deposit system 100 according to the present disclosure. The deposit system is designed for depositing sheet material 2 and in the illustrated example comprises a gripping system 200, which itself comprises two sheet material holders 300. As can be seen in Figure 1, the gripping system 200 is capable of gripping a stack 3 of sheet material 2. In the illustrated example, the sheet material 2 is a document of value, e.g. a banknote.

[0035] The gripping system 200 can be moved by a movement system 4, which in the example shown comprises a robot arm 6, which is able to move the gripping system 200 in space. In this case, the movement system 4 further comprises a translation drive 5, which is designed to move the two sheet material holders 300 relative to each other in a gripper-like manner, it being sufficient to move one of the two sheet material holders 300. The translation drive 5 can comprise a spindle drive.

[0036] The mounting system 100 further comprises a fluid supply unit 8, which is fluidly connected to each of the sheet material holders 300. In the example according to Fig. 1, the fluid supply unit 8 comprises a compressed gas cylinder 10, which is connected to the two sheet material holders 300 via a controllable valve 12 and a connecting hose 14. Instead of or in addition to the compressed gas cylinder 10 and the valve 12, a compressor can be provided. The fluid supply unit 8 can be designed to supply an ionized gas. For this purpose, it can comprise an ionizer 13.

[0037] The mounting system 100 further comprises a control device 16 , which is designed to control the transfer system 4 and the fluid supply unit 8 , in particular the valve 12 .

[0038] FIG. 1 further shows a value document cassette 18 which already holds a stack 19 of sheet material 2, in this case a stack 19 of value documents, ready for removal. This stack 19 is placed on a mobile lifting platform 20, which is urged in a given direction by a spring 22. In the illustrated state, the lifting platform is moved downwards against the spring force (e.g. due to the weight of the stack of sheet material), thereby freeing up space above the stack. A stack 3 can then be inserted into this space. The deposit system 100 is thus able to deposit the sheet material 2 in the form of a stack 3 on top of the stack 19 in the value document cassette 18. The value document cassette 18 can be arranged vertically or also obliquely tilted backwards (to the left in FIG. 1).

[0039] The deposit system 100 can be designed to remove the sheet material 2 from a value document container 24, which itself holds a stack 26 of sheet material 2 in a removable manner. It is also possible to transport the sheet material 2 in the opposite direction, i.e. from the value document cassette 18 to the value document container 24.

[0040] Once the gripping system 200 has been moved by the movement system 4 so that the stack 3 is above the stack 19 in the value document cassette 18, the gripping system 200 can be opened to disengage, i.e. release, the stack 3 clamped between the sheet material holders 300. The gripping system 200 can then be pulled out of the value document cassette 18 and the stack 3 can be placed in a precise position on the stack 19. During this retraction of the gripping system 200, friction between the sheet material holders 300 and the sheet material 2 of the stack 3, and preferably therewith of the stack 19, is deliberately minimized, since the lower the friction, the lower the risk that individual sheets of the sheet material 2 will be at least partially pulled out of the stack 3 or 19 by the gripping system 200 during its retraction. In order to reduce this friction, a sheet material holder according to FIG. 2 can be used.

[0041] Fig. 2 shows a preferred embodiment of a sheet material holder. This sheet material holder 300 can in particular be part of the laying system 100 of the gripping system 200. The sheet material holder 300 according to Fig. 2 has a first surface 28, which engages with the sheet material 2 when the sheet material holder 300 holds the sheet material 2. In Fig. 2, the sheet material 2 will rest on the first surface 28 if the sheet material holder 300 carries the sheet material 2. In this case, the sheet material holder 300 can be designed such that the sheet material 2 extends flat and parallel to the first surface 28 when it engages with the first surface 28.

[0042] In the illustrated example, the first surface 28 is formed by a number of fingers 36. Each of the fingers is of elongated design and extends from a proximal end 38 to a distal end 40. At the distal end 40, the fingers 36 are inclined. In other words, the fingers 36 can be pointed or wedge-shaped at the distal end 40. This can facilitate the insertion of the fingers 36 into a stack of sheet materials 2. At the proximal end 38, the fingers 36 have a widened portion 42, which is fixed to or fused with the finger connecting element 44. A number of reinforcing elements 46 are each fixed to the finger connecting element 44 and to one side of the fingers 36. In the example of FIG. 2, the reinforcing elements 46 extend substantially perpendicular to the first surface 28. This can reinforce the fingers 36 to prevent unwanted bending and breakage when gripping the sheet materials 2. For this purpose, the reinforcing element can for example consist of metal.

[0043] The stack 26 is placed between side walls 66, 68 of the value document container 24. To allow easy gripping of the stack 26, the side walls 66, 68 of the value document container 24 of Fig. 1 may include notches 64 on their inner surfaces facing the stack, said notches being dimensioned such that the fingers 36 of the sheet material holder 300 can be inserted into said notches. As shown in Fig. 1, the sheet material may then be placed in the value document container 24 such that it extends parallel to the side walls 66, 68.

[0044] Referring again to FIG. 2, the first surface 28 comprises a plurality of first openings 30. The sheet material holder 300 is designed to allow fluid to be discharged through these first openings 30 along a predefined discharge direction 32 in the direction of the sheet material 2 held by the sheet material holder 300 (upwards in FIG. 2). This discharge direction 32 is indicated diagrammatically by an arrow in FIG. 2. The discharge direction 32 may differ for the openings 30, as long as it is in the direction of the sheet material 2. The discharge direction 32 is preferably the same for all openings 30. As can be seen from FIG. 2, the discharge direction 32 may be along or intersect the fingers 36, for example, at an acute angle, in particular an angle of up to 45°, with respect to a normal 34 of the sheet material 2 (not shown). The discharge direction 32 may also be in the direction of the normal 34. In the example according to FIG. 2, each of the fingers 36 has a plurality of first openings 30.

[0045] As shown in Fig. 2, the fluid channels 48 connected to the first openings 30 can extend into the sheet material holder 300. According to Fig. 2, a common supply channel 52 connected to each fluid channel 48 is arranged in the finger connection element 44. The fluid channels 48 enter into a transition area 50 of the supply channel 52. The supply channel 52 comprises a supply interface 54, which can be connected to a fluid supply unit 8, in particular to a hose 14. Fluid can flow out of the gas cylinder 10 through the open valve 12 and the hose 14 through the supply channel 52, from where it reaches the individual fluid channels 48 and is finally discharged along the discharge direction 32 through the first openings 30. By switching on the fluid discharge, it is therefore possible to reduce friction between the sheet material 2 held by the sheet material holder 300 and the fingers 36 when necessary.

[0046] In the illustrated example, the sheet material holder 300 also has a second surface 56, which is formed by the fingers 36 and is opposite the first surface 28 (i.e., to the underside of the fingers 36 in FIG. 2). This second surface 56 also has an opening, referred to as a second opening 58. Fluid flowing from the fluid channel 48 to the second opening 58 can be discharged through the second opening 58 along a second predetermined discharge direction 60. The second discharge direction 60 can be opposite to the first discharge direction 32, downward in FIG. 2, i.e., away from the sheet material 2 when the sheet material holder 300 is holding the sheet material 2.

[0047] FIG. 3 shows a cross-sectional view of the finger 36 of the sheet material holder 300 of FIG. 2. It can be seen that the finger 36 extends substantially linearly, i.e. in the same plane. The first surface 28 is parallel to the second surface 56. At the distal end 40, the finger 36 is inclined at an angle α, which can be, for example, in the range of 10° to 35°. The first openings 30 are in the upper surface of the finger 36 and the second openings 58 are in the lower surface thereof. The number of first openings 30 corresponds to the number of second openings 58, although they may be different. For example, the first predetermined ejection direction 30 extends parallel to the normal 34, as does the second predetermined ejection direction 58. According to FIGS. 2 and 3, the two ejection directions 30, 58 are mutually opposite.

[0048] The fluid channel 48 is connected to the first opening 30 and the second opening 58. A first portion of the fluid channel 48 may extend linearly in the same plane. The fluid channel 48 may be at the same distance from the first surface 28 and the second surface 56, in other words the material thickness of the finger 36 above the fluid channel 48 may be the same as the material thickness of the finger 36 below the fluid channel 48. The first portion of the fluid channel 48 may be located in the center of the finger 36. In this way it may be ensured that the finger 36 has a high strength and at the same time a compact configuration.

[0049] In the illustrated example, the feed channel 52 may have a cross section that allows additive manufacturing without support structures. According to FIG. 3, this is ensured by a maximum overhang angle β=45°. The cross section of the feed channel may have an inverted heart shape. The feed channel 52 extends outside (above in FIG. 3) the plane in which the first part of the fluid channel 48 extends. The second part of the fluid channel 48 extends along an outward curve (above in FIG. 3) from the plane of the first part of the fluid channel 48 and is connected to the feed channel 52. In particular in this type of configuration, it may be advantageous to manufacture the fingers 36, the finger connecting elements 44, both, or even the entire sheet material holder (for example simultaneously) by additive manufacturing methods, for example 3D printing.

[0050] Fig. 4 shows a preferred embodiment of a gripping system. The illustrated gripping system 200 can be used in the laying system 100 according to Fig. 1. A translation drive 5 is also shown. The translation drive 5 is arranged in the hand element 63 or on its surface. Two sheet material holders, in particular a sheet material holder 300 according to Figs. 2 and 3, are arranged in the hand element 63 with the two first surfaces 28 facing each other. The two sheet material holders 300 are connected to each other via the hand element 63. The hand element 63 further comprises a fluid connection coupling 67 and channels or hoses 69, 70 connected thereto, each of which is connected to a respective supply interface 54 of the sheet material holder 300. The fluid connection coupling 67 can be connected to a hose 14.

[0051] The surface 28 of the sheet material holder 300 shown at the top of FIG. 4 may be slightly inclined with respect to the surface 28 of the other sheet material holder 300 when no sheet material 2 is held by the gripping system 200, i.e. when the gripping system 200 is therefore not exerting any gripping force. In this example, the angle ε between the two surfaces 28 = ε1 + ε2 is 4°. It should be understood that this angle can be provided by tilting one or both sheet material holders 300 with respect to the reference line 65. Thus, for example, both surfaces 28 can be at an angle of 88° with respect to the normal 34, or one of the surfaces 28 can be at an angle of 90° and the other at an angle of 86°. The gripping system 200 can be designed so that the angle ε can be reduced to 0° corresponding to a restoring force. The restoring force can correspond to an elastic deformation of the sheet material holder 300 or can be provided by a separate spring element. Therefore, the finger members 36 of the two sheet material holders 300 act like a clamp, increasing the contact pressure in the area of ​​the distal end 40 of the sheet material 2 held between the sheet material holders 300. In this way, unwanted slipping off of the held sheet material 2 can be prevented. The reference line 65 can extend parallel to the normal 34 of the sheet material 2 when it is held or gripped by the gripping system 200.

[0052] At least one of the sheet material holders 300 is arranged so that it can be moved by a translation drive 5. In this way, the distance between the surfaces 28 can be varied. In other words, the sheet material holders 300 can be moved towards and away from each other like grippers.

[0053] FIG. 5 shows a schematic diagram of a method according to the present disclosure. In step 502, a sheet material (e.g., sheet material 2) is moved to a placement position, where the sheet material is held by at least one sheet material holder (e.g., by one or both sheet material holders 300), and one surface (e.g., first surface 28) of the at least one sheet material holder engages the sheet material. In step 504, a distance between a first and a second of the at least one sheet material holders between which the sheet material is held is increased (e.g., between two sheet material holders 300 of the gripping system 200). In step 508, a fluid is discharged from at least one opening (e.g., first opening 30) in the surface of the at least one sheet material holder, where the fluid is discharged in the direction of the sheet material (e.g., along a predetermined discharge direction 32). Here, the discharge of the fluid according to step 508 starts during step 504. In step 506, the at least one sheet material holder is moved relative to or away from the sheet material while fluid is being drained, such that the sheet material is unloaded from the at least one sheet material holder. The draining of fluid is terminated with or after the unloading according to step 506.

[0054] The method can be performed by the deposit system 100. The control device 16 can therefore be designed to command the transfer system 4, in particular the robot arm 6, to move the sheet material 2 of the stack 3 to a deposit position, for example to a position above the stack 19 in the value document cassette 18. The control device 16 can also be designed to control the spindle drive 5 to increase the distance between the two sheet material holders 300 (for example their first surfaces 28) of the gripping system 200. The control device 16 can further be designed to command the fluid supply unit 8 to eject fluid from the openings 30 and / or 58. The control device 16 can further be designed to command the transfer system 6, in particular the robot arm 6, to move the sheet material holder 300 with respect to the sheet material 2 of the stack 3 during ejection of the sheet material, so that the sheet material 2 is deposited from the sheet material holder 300.

[0055] The control unit 16 can be designed to command the fluid supply unit 8 to dispense a particular fluid. The control unit 16 can be designed to command the fluid supply unit 8 to dispense the fluid at a predefined pressure or a predefined volumetric flow rate. This allows for time-varying friction reduction. The control parameters for the fluid supply unit 8 can be selected to match the sheet material (e.g. paper, plastic, etc.), the size of the sheet material (e.g. size of a 5 euro note, size of a 100 euro note, etc.), the weight of the sheet material (e.g. weight per sheet of sheet material), or the condition of the sheet material (e.g. stiff or flimsy) to ensure that the sheet material is deposited in the correct position.

[0056] It is to be understood that the features described with respect to the drawings do not necessarily have to be present. Therefore, the substitution or omission of individual features is also conceivable. In other words, the features described with respect to the drawings should not all be considered essential. Modifications of the exemplary embodiments are also possible.

Claims

1. A sheet material holder (300) for holding a sheet material (2) for a gripping system (200), comprising: The sheet material holder (300) has a first surface (28); the sheet material holder (300) is designed to engage the sheet material (2) at the first surface (28) when the sheet material holder (300) is holding the sheet material (2); the first surface (28) has at least one first opening (30); The sheet material holder (300) is designed so that when the sheet material holder (300) holds the sheet material (2), fluid can be discharged from the first opening (30) toward the sheet material (2) along a first predetermined discharge direction (32).

2. the sheet material holder (300) is designed such that, when the sheet material holder (300) holds the sheet material (2), the first predetermined ejection direction (32) is in the direction of a normal (34) of the sheet material (2) or extends at an acute angle, in particular at most 45°, to the normal (34) of the sheet material (2); The sheet material holder (300) of claim 1.

3. The sheet material holder (300) has one or more fingers (36) that form the first surface (28); The sheet material holder (300) of claim 1.

4. one or more or all of the fingers (36) each have at least one of the first openings (30), and preferably at least two of the first openings are disposed along the length of the respective finger; 4. The sheet material holder (300) of claim 3.

5. the sheet material holder (300) has a second surface (56); the second surface (56) has at least one second opening (58); The sheet material holder (300) is designed to allow fluid to be discharged through the at least one second opening (58) in a second predetermined discharge direction (60) from the direction of the sheet material (2) when the sheet material holder (300) holds the sheet material (2). The sheet material holder (300) of claim 1.

6. the sheet material holder (300) is designed such that, when the sheet material holder (300) holds the sheet material (2), the second predetermined ejection direction (60) is a normal (34) to the sheet material (2) or extends at an acute angle, in particular 45°, to the normal (34) to the sheet material (2); 6. The sheet material holder (300) of claim 5.

7. the second surface is on an opposite side of the sheet material holder from the first surface; 6. The sheet material holder (300) of claim 5.

8. The sheet material holder (300) of claim 1, wherein the sheet material holder (300) is manufactured by additive manufacturing methods.

9. A gripping system (200) for holding a sheet material (2), A first sheet material holder (300) according to any one of claims 1 to 8, a second sheet material holder (300) according to any one of claims 1 to 8; Including, The sheet material holders (300) are arranged on the gripping system such that the first surface (28) of the first sheet material holder (300) faces the first surface (28) of the second sheet material holder (300), and the gripping system is designed to hold a sheet material (2) between the first surface (28) of the first sheet material holder (300) and the first surface (28) of the second sheet material holder (300).

10. 10. The gripping system (200) of claim 9, wherein the sheet material holders (300) are arranged such that the first sheet material holder (300) can be moved relative to the second sheet material holder (300) to change the distance between the first surface (28) of the first sheet material holder (300) and the first surface (28) of the second sheet material holder (300).

11. the gripping system has a translation drive (5) which is designed to vary the distance between the first surface (28) of the first sheet material holder (300) and the first surface (28) of the second sheet material holder (300), in particular to release the sheet material (2) from the sheet material holder (300); The gripping system (200) of claim 9.

12. the sheet material holders (300) are arranged such that, when the first sheet material holder (300) and the second sheet material holder (300) are not holding any sheet material (2), the first surface (28) of the first sheet material holder (300) is oblique with respect to the first surface (28) of the second sheet material holder (300); The gripping system (20) is particularly designed so that the first surface (28) of the first sheet material holder (300) can be aligned parallel to the first surface (28) of the second sheet material holder (300) against a restoring force. The gripping system (200) of claim 9.

13. A laying system (100) for laying sheet material (2), comprising: - one or two sheet material holders (300) according to any one of claims 1 to 8, - optionally a fluid supply unit (8) fluidly connected to said sheet material holder (300) and designed to eject a fluid from said at least one first opening (30) in the direction of said sheet material (2); a movement system (4) designed to move said sheet material holder(s) (300); - commanding said transfer system (4) to move said sheet material (2) to a deposit position when held by said sheet material holder(s) (300); commanding the translation drives (5) of the sheet material holders (300) to increase the distance between the sheet material holder(s) (300) to release the sheet material (2) from the sheet material holder(s) (300); commanding said fluid supply unit or a fluid supply unit (8) connectable to said placement system to expel said fluid from said at least one first opening (30); commanding the movement system (4) to move the sheet material holder (300) relative to the sheet material (2) so that the sheet material (2) is placed off the sheet material holder (300) during the discharge of the fluid; a control device (16) designed to A mounting system (100) comprising:

14. A loading system (100) for loading sheet material (2), comprising: - said gripping system (200) according to claim 9; - optionally a fluid supply unit (8) fluidly connected to said sheet material holder (300) and designed to eject a fluid from said at least one first opening (30) in the direction of said sheet material (2); a movement system (4) designed to move said sheet material holder(s) (300); - commanding said transfer system (4) to move said sheet material (2) to a deposit position when held by said sheet material holder(s) (300); commanding the translation drives (5) of the sheet material holders (300) to increase the distance between the sheet material holder(s) (300) to release the sheet material (2) from the sheet material holder(s) (300); commanding said fluid supply unit or a fluid supply unit (8) connectable to said placement system to expel said fluid from said at least one first opening (30); commanding the movement system (4) to move the sheet material holder (300) relative to the sheet material (2) so that the sheet material (2) is placed off the sheet material holder (300) during the discharge of the fluid; a control device (16) designed to A mounting system (100) comprising:

15. A method for laying a sheet material (2), comprising: - moving (502) a sheet material (2) to a placement position, said sheet material (2) being held by at least one sheet material holder, a surface of said at least one sheet material holder engaging said sheet material (2); - increasing the distance between a first sheet material holder and a second sheet material holder of said at least one sheet material holder to release said sheet material (2) held between said first sheet material holder and said second sheet material holder from said sheet material holder(s) (300) (504); - ejecting (508) a fluid from at least one opening in said surface of said at least one sheet material holder, said fluid being ejected in the direction of said sheet material (2); - moving (506) said at least one sheet material holder relative to said sheet material (2) during said step of discharging said fluid, so that said sheet material (2) is deposited from said at least one sheet material holder; A method comprising:

16. 16. The method according to claim 15, wherein the step of discharging (508) the fluid is initiated only for the purpose of the step of placing (506) the sheet material, in particular before or simultaneously with the step of moving the at least one sheet material holder relative to the sheet material, which is performed for the purpose of placing.

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