Method and device for the precisely aligned stacking of plate elements

Abstract

The invention relates to a method (200) for the precisely aligned stacking of plate elements (10, 10') to form a stack (14), by means of which method it is possible to achieve the highest possible stacking speed with simultaneously high placement accuracy, whilst avoiding damage to the plate elements (10, 10'). The method (200) comprises: a) feeding a plate element (10, 10') from at least one direction to a stacking device (13) as far as a removal position (18, 18') directly upstream of the stacking device (13), b) gripping the plate element (10, 10') in the removal position (18, 18') by means of a gripper (15, 15') located on a multi-axis portal (16), and fixing the plate element (10, 10') on the gripper (15, 15'), wherein the gripper (15, 15') is movable on the multi-axis portal (16) in the X-Y-Z direction and is rotatable about its Z axis through the angle Phi, c) moving the gripper (15, 15') with the gripped plate element (10, 10') past a camera, wherein a deviation of the gripped plate element (10, 10') from a target position in the X-Y direction and a Phi angular position is determined, and correction movements of the gripper (15, 15') in the X-Y direction and the Phi angular position for orienting the gripped plate element (10, 10') with respect to a target position are determined, d) correcting the position of the gripped plate element (10, 10') in accordance with the determined correction movements during the continued travel of the gripper (15, 15'), e) stacking the plate element (10, 10') in the stacking device (13), and f) repeating steps a) to e) so as to form the stack (14).

Description

[0001] Method and device for precisely stacking plate elements

[0002] The invention relates to a method and a device for stacking plate elements with a precise fit, such as for producing a stack of plates.

[0003] Such plate elements can have a square or rectangular outline and can be designed as coated and / or structured ceramic plates for electrolyzer fuel cells, bipolar plates or MEAs (Membrane Electrode Assembly) or gaskets or similar stackable plate-shaped elements, which may also contain fluid flow channels and other surface structuring, which is why precise and accurate stacking is necessary.

[0004] From DE 969 938 C, for example, a device operating with suction air for stacking and destacking sheet-shaped goods, in particular thin sheets, is known. In this device, the sheets are fed by conveyor belts of a belt conveyor in a feed level to a singulation device in the form of a suction hood above the feed level, which is provided with a circulating conveyor belt in which there are openings for the intake air.

[0005] As each sheet is fed into the singulation unit, it is drawn in through the openings by the conveyor belt and transported until it reaches a point of contact. Upon contact, the suction is interrupted and the conveyor belt stops, whereupon the sheet falls onto a stack. The stack is lowered as its height increases to limit the fall height.

[0006] Furthermore, DE 853 426 C discloses a method and a device for stacking plate-shaped workpieces, in particular painted sheets, without impact or friction. The device comprises a conveyor belt circulating over deflection rollers for feeding individual plates to a storage area. The storage area is bounded at the bottom by a plate that can be moved vertically by means of spindles.

[0007] Individual panels are placed onto a stack, which is to be stacked on a lower panel, in any desired, potentially uneven, sequence by means of a conveyor belt. During placement, air is blown between each panel and the existing stack via air nozzles, thus simultaneously delaying the placement of the panels. A stop is provided in the storage area to ensure precise placement on the stack.

[0008] Finally, DE 10 2009 003 777 A1 describes a method and a system for assembling electrolyzer stacks composed of different parts. Here, metal plates are stacked alternately with membranes, whereby precise alignment of the parts relative to each other, and especially of the channels in the plates, is necessary for the reliable operation of the electrolyzer. Finally, the stack is fitted at both ends with end caps that are clamped against each other to seal the inner channel in the electrolyzer stack.

[0009] Especially with highly sensitive coated and / or structured panel elements of the type described above, care must be taken during every handling process to ensure that these are not damaged on the surface or edges, for example by transport devices or grippers of various kinds during handling.

[0010] This requires careful and elaborate handling of the plate elements, especially during the stacking process to form the electrolyzer stack.

[0011] In contrast, the efficient production of, for example, electrolyzer fuel cell stacks requires a large quantity of the necessary plate stacks. This means that such electrolyzer fuel cell stacks can only be manufactured economically if the stacking of the individual plates is achieved with the highest speed and accuracy, and without any damage to the plate elements.

[0012] The invention is based on the objective of creating a method, a device and a computer program for precisely stacking plate elements into a stack, with which a high stacking speed can be achieved with high accuracy of placement while avoiding damage to the plate elements.

[0013] This problem is solved by the subject matter of the independent claims. The dependent claims concern specific configurations.

[0014] A first aspect of the invention relates to a method for stacking plate elements to form a stack with precise fit.

[0015] A plate element can be understood as a workpiece whose dimensions in two lateral directions, e.g., the X-direction and the Y-direction, are significantly larger than in the thickness direction, e.g., the Z-direction. In other words, the plate element can be bounded by two surfaces that are very large relative to its thickness, e.g., a top surface and a bottom surface. In one embodiment, the plate element can have a constant thickness across its entire lateral extent. Optionally, the top surface and / or the bottom surface can be flat.

[0016] A stack of plate elements comprises at least two plate elements placed on top of each other, wherein the second plate element can be placed with its underside surface on, preferably, the top surface of, a first plate element. Consequently, the height of the stack is the sum of the thicknesses of the individual plate elements plus any gaps between the stacked plate elements.

[0017] The proposed procedure can, for example, include the following:

[0018] The process steps include: - Feeding, preferably intermittently, a sequence of individual plate elements with a conveyor belt from at least one direction to a stacking device up to a removal position immediately in front of the stacking device,

[0019] - Gripping the plate element in the removal position with a gripper located on a multi-axis portal and fixing the plate element on the gripper, which is movable on the multi-axis portal in the XYZ direction and rotatable in the Phi angle about its Z-axis,

[0020] - Passing the gripper with the gripped plate element past a camera, preferably without stopping, whereby the current deviation of the gripped plate element from a target position in the XY direction and a Phi angular position is determined, and the necessary corrective movements of the respective gripper in the XY direction and the Phi angular position for the exact alignment of the gripped plate element with respect to a target position are preferably calculated in real time.

[0021] - Correcting the position of the gripped plate element according to the calculated correction movements during the gripper's movement and subsequently stacking the plate element correctly on the stack in the stacking device.

[0022] In this context, the term "real-time" can mean that the calculation is performed as quickly as necessary for a specific technical situation. Preferably, determining the deviation of the actual position from the target position and correcting the position of the plate element should be faster than the time it takes to move the plate element from the camera's point of view to stacking in the stacking device or to placing it down.

[0023] The process steps can be carried out in the order they are listed, but depending on requirements, they can also be performed in a different order, overlapping in time, or simultaneously. For example, the process can be carried out in cycles, with each of the listed process steps corresponding to one cycle. In one implementation variant, these cycles can be carried out in parallel, so that, for example, four plate elements can be handled simultaneously according to the four process steps.

[0024] The process can be carried out using a computer implementation, i.e., at least one process step, preferably several or all process steps, can be carried out using a computer program.

[0025] The deviation of the actual position from the soil position can be determined using a camera recording taken while the gripper passes by with the gripped plate element.

[0026] To determine the deviation of the gripped plate element from a target position in the XY direction, the x and y coordinates of a reference point, also called a reference mark, of the plate element, e.g. a center point of the plate element, a corner, an edge, a hole, etc., can be determined with respect to a reference coordinate system.

[0027] One or more cameras can be used for this purpose. For example, one or more cameras can be used for each feed side. The number of cameras can depend, for example, on the design of the reference mark(s). If, for instance, a single round hole is used as the reference mark, at least two cameras are required. With a rectangular reference mark, however, a single camera may suffice. The higher the number of cameras, the more accurately the deviation of the actual position of the plate element from its target position can be determined.

[0028] Determining the deviation of the plate element from a target position in a phi angular position or a target phi angular position means that any possible deviation of the phi angular position of the plate element, e.g., with respect to the orientation of the x and y coordinate axes from the reference point, is determined. Ideally, this deviation is zero degrees, but in practice it deviates from zero degrees to a greater or lesser degree, either positively or negatively.

[0029] For example, it can be specified that the Phi angle is zero degrees when the edges of a rectangular plate element are aligned parallel to the X and Y directions.

[0030] Based on the determined deviation of the actual position of the plate element from the target position, corrective movements, e.g. in the form of correction values, can be calculated.

[0031] The determination of the deviation and / or the calculation of the correction values ​​can be carried out, for example, using a control and processing unit.

[0032] Subsequently, corresponding control signals can be generated and transmitted to actuators, such as those of the gripper, which then correct the position according to the calculated correction movements. For this purpose, the control and processing unit can be in a signal-technical communication link with the camera(s) and the actuators. In other words, the control and processing unit can receive input data from the camera(s), process the input data, and trigger actuators in response to the processed input data, based on instructions or code programmed in the control and processing unit, according to one or more routines.

[0033] The position correction of the gripped plate element is carried out in such a way that, after completion of the position correction, the gripped plate element is positioned in the target position, i.e., it has a specific XY position and a specific Phi angular position. For this purpose, the gripper with the gripped plate element can, for example, be moved accordingly in the XY direction and / or rotated around the Z-axis using the multi-axis gantry.

[0034] The stacking device preferably includes a mechanical receptacle for the panel elements, e.g., in the form of a storage surface. The mechanical receptacle can optionally be surrounded by a cage with external guide elements. Furthermore, the mechanical receptacle can optionally be designed to be movable in the z-direction. Movement in the z-direction makes it possible to keep the top level of the stack at the same height as the panel elements being fed, even as the stack grows. In other words, the z-position can be varied so that a panel element in the removal position and the topmost panel element of the stack are in the same plane.

[0035] Optionally, a further process step can be included to check whether the calculated corrective movement is feasible, i.e., whether, for example, the calculated corrective movements can be carried out within the remaining time until the picking position is reached, and / or whether the gripper's range of motion allows the execution of the calculated corrective movements. This check step can also be performed using the control and processing unit.

[0036] Optionally, the process can also include determining and storing master coordinates at the beginning, for example, based on one or more reference marks of a first plate element. These master coordinates can define the target position.

[0037] A storage unit can be used to store the master coordinates. The control and processing unit can retrieve the master coordinates from the storage unit and use them to determine deviations. For this purpose, the processing and control unit can be interconnected with the storage unit via a signal.

[0038] Preferably, the feed of the panel elements to the stacking device, for example via conveyor belts, can be carried out from two directions or from two sides, e.g., from opposite sides such as a right side and a left side, alternately and in a staggered manner, particularly in the same feed plane, thereby increasing the stacking speed. It can be advantageous for the feed of the panel elements to the stacking device to be carried out alternately from two sides by a first (left) and a second (right) gripper. In this case, different panel elements or plate-shaped components can also be stacked alternately.

[0039] Preferably, the feeding of the plate elements, e.g. with the conveyor belt, can be carried out in cycles, by moving the plate elements linearly to a further position at each step over their longitudinal extent, or in several smaller steps.

[0040] To prevent the panel elements from slipping on the conveyor belt during its movement, they can be fixed in place by suction or friction. If conditions permit, the panel elements can also be fixed to the conveyor belt using magnets or gravity.

[0041] To better prevent damage to the panel elements during handling, they can be gripped using a vacuum gripper or a gecko gripper. Of course, other suitable grippers can also be used that allow for sufficiently careful handling of the panel elements.

[0042] The particular advantages of this method lie in the high working speed and the optional possibility of alternately feeding the plate elements from two sides, which enables a high speed for the stacking process.

[0043] Furthermore, the suction or static friction of the plate elements on the conveyor belts enables a high transport speed with simultaneous process stability.

[0044] By measuring the position / alignment of the plate elements on-the-fly, a high speed of the measurement process is achieved, and at the same time, a separate alignment device, e.g. in the form of an alignment table, which would otherwise be required upstream of the stacking process, can be saved.

[0045] Furthermore, the use of a multi-axis portal allows for a high speed of the stacking process while maintaining high precision.

[0046] The method described above is particularly advantageous for the manufacture of fuel cells or electrolysis cells. In other words, it is especially suitable for stacking plate elements that, in their stacked state, are used in a fuel cell or electrolysis cell.

[0047] Another aspect of the invention relates to a device for precisely stacking plate elements. The device comprises:

[0048] - a stacking device,

[0049] - a multi-axis portal

[0050] - at least one grabber,

[0051] - at least one camera and

[0052] - Means adapted to perform the steps of the procedure described above were solved.

[0053] Optionally, at least one conveyor belt may be present. Furthermore, the device may optionally include a control and processing unit. Additionally, a storage unit may be present.

[0054] The device can be used to perform one of the methods described above for precisely stacking plate elements. The device incorporates the advantages of these methods. The explanations of these methods are correspondingly applicable to the device.

[0055] Another aspect of the invention relates to a computer program comprising instructions that cause the device to perform the described process steps, for example, by loading the computer program into a control unit of the device. The computer program can be stored on a computer-readable data carrier.

[0056] A computer program can be understood as program code that can be stored on a suitable medium and / or retrieved via a suitable medium. Any medium suitable for storing software can be used to store the program code, for example, non-volatile memory built into a control unit, a DVD, a USB stick, a flash card, or the like. Retrieval of the program code can be achieved, for example, via the internet or an intranet, or via another suitable wireless or wired network.

[0057] Further aspects of the invention relate to a non-volatile, computer-readable storage medium on which the computer program is stored, and a data carrier signal with which the computer program is transmitted.

[0058] The invention is explained in more detail below with reference to an exemplary embodiment, which, for illustrative purposes, relates to a specific embodiment in which the invention can be exercised. It is understood that other embodiments can be used and structural or logical modifications can be made without deviating from the scope of protection of the present invention. The following description is therefore not to be interpreted in a restrictive sense, and the scope of protection of the present invention is defined by the appended claims.

[0059] The accompanying figures show:

[0060] Fig. 1 shows a schematic representation of an exemplary device for the precise stacking of plate elements; and

[0061] Fig. 2 shows a flowchart of an exemplary procedure.

[0062] Fig. 1 shows a schematic representation of the device 100 for precisely stacking panel elements 10 with the multi-axis gantry 16, which is arranged above the stacking device 13 and is equipped with two grippers 15, 15', each of which is assigned to one of the two conveyor belts 11, 1T to grip the panel elements 10 transported on them. The conveyor belts 11, 1T are aligned to the left and right of a stacking device 13, respectively, as shown in the drawing. The multi-axis gantry 16 allows movement of the single gripper 15, 15' or the grippers 15, 15' in the x, y, and z directions, as well as rotation of the gripper about its own Z-axis, i.e., its phi angular position. The XY directions run perpendicular to each other in an XY plane, which is preferably aligned parallel to a top surface of the stack. The Z direction runs perpendicular to the XY plane.

[0063] Alternatively, there may be only a single gripper 15, which can optionally grip plate elements 10 on both conveyor belts 11, 1 T. Alternatively, there may also be only a single conveyor belt 11 to which a single gripper 15 is assigned.

[0064] The conveyor belts 11, 1T serve to alternately feed panel elements 10 towards the stacking device 13 from two opposite sides, with both conveyor belts 11, 1T extending to a removal position 18, 18' for the fed panel elements 10 directly adjacent to the stacking device 13. The removal position 18, 18' is defined as the position located within the handling range of the respective gripper 15, 15'. The respective removal position 18, 18' on the right or left conveyor belt 11, 1T is located, on the one hand, at the end of the respective conveyor 11 next to the stacking device 13 and, on the other hand, within the handling range of one gripper 15, 15', or grippers 15, 15', which are located above the conveyor belts 11, 1T on the multi-axis gantry 16.

[0065] The conveyor belts 11, 1T transport the plate elements 10 in increments, i.e., with transport pauses, to the respective removal position 18, 18', ensuring that the plate elements 10 resting on the respective conveyor belt 11, 1T do not move relative to the respective conveyor belt 11, 1T during transport. For this purpose, the plate elements 10 are fixed to the respective conveyor belt 11, 1T during transport, which can be achieved by applying negative pressure. Furthermore, it should be ensured that the transport pause is sufficiently long to allow the plate element 10 to be safely removed from the respective conveyor belt 11, 1T at the respective removal position 18, 18' during the transport pause, without any relative movement between the gripper 15, 15' and the plate element 10.

[0066] Upon reaching the corresponding removal position 18, 18' on the conveyor belt 11, 1T to the left or right of the stacking device 13, the respective plate element 10 is picked up from the conveyor belt 11, 1T by the left or right gripper 15, 15' during a transport pause, fixed to the gripper 15, 15', and passed by a camera 17, 17' on-the-fly, i.e., without stopping, for position measurement in the XY direction and determination of the phi angle deviation from a target position. Based on the deviation from a target orientation or target position determined in this way, the position of the plate element 10 gripped by the gripper 15, 15' is corrected by adjusting the gripper 15, 15' in the XY direction to a target position and by correcting the phi angle deviation. The plate element 10 is not corrected in position relative to the respective gripper 15, 15', but together with it.The plate element 10 is then placed in the stacking device 13 with the gripper 15, 15' on the stack 14 with precise positioning.

[0067] To protect the plate elements 10 being picked up, the grippers 15, 15' are not mechanically actuated, but rather designed as vacuum grippers or gecko grippers. It is understood that the plate elements 10 should be released from their fixation on the conveyor belt 11, 1T during removal of the plate elements 10 with the grippers 15, 15' to reliably prevent any potential damage to the plate elements 10.

[0068] By measuring the position / orientation of the plate elements 10 on-the-fly, a high speed of the stacking process is achieved.

[0069] The use of the multi-axis portal 16 allows for a high speed of the stacking process with high precision at the same time.

[0070] The device 100 also includes a control and processing unit 19 and a storage unit 20, which are interconnected via signal communication, so that, for example, master coordination stored in the storage unit 20 can be retrieved and processed by the control and processing unit 19. Furthermore, the control and processing unit 19 is interconnected via signal communication with the cameras 17, 17' and actuators of the multi-axis gantry (16), which can align a gripped plate element 10 in the X, Y, and Z directions, as well as rotate it about the Z-axis, i.e., change its phi angle. It should be noted that, for clarity, the signal communication between the control and processing unit 19 and the camera 17' and the actuators is not shown in Fig. 1.

[0071] With the device 100, a method 200 can be implemented in which a sequence of individual plate elements 10 is fed intermittently by a conveyor belt 11 from at least one direction to a stacking device 13 up to a removal position 18, 18' immediately in front of the stacking device 13 and subsequently the respective plate element 10 in the removal position 18, 18' is gripped in a pause in the movement of the conveyor belt 11 by a gripper 15; 15' located on an XYZ-Phi gantry or multi-axis gantry 16, which is movable in the XYZ-Phi direction.Subsequently, the gripper 15, 15' with the gripped plate element 10 is moved past a camera 17, 17' without stopping, whereby the current XY position and the Phi angular position of the gripped plate element 10 relative to the gripper 15, 15' are determined, and the necessary corrective movements of the respective gripper 15, 15' in the XY direction and the Phi angular position for the exact alignment of the gripped plate element 10 are calculated in real time. A position correction of the gripped plate element 10 is then performed while the gripper 15, 15' continues its movement, along with the gripper 15, 15', in the XY direction and the Phi angular position, and finally the plate element 10 is stacked correctly on the stack 14 in the stacking device 13. The stacking device 13 has a mechanical receptacle in the form of a storage surface which is movable in the z-direction, so that the z-position of the uppermost plate element 10, 10' of the stack 14 can be changed and e.g.The stacking device 13 can be adapted to the plane of the plate element 10, 10' located in the removal position 18, 18'. The movement of the stacking device 13 in the z-direction is represented in Fig. 1 by a vertical arrow.

[0072] With reference to Fig. 2, an exemplary method 200 for stacking plate elements to form a stack 14 is described in more detail below, which can be carried out with the device 100 according to Fig. 1.

[0073] After the start of procedure 200, master coordinates can be determined and stored in an optional procedure step SO, for example, using the control and processing unit 19 and the storage unit 20. These master coordinates are determined based on a first plate element 10, i.e., the plate element 10 that will be in the lowest position in the subsequent stack 14. The master coordinates serve as a reference for the orientation of the further plate elements 10 to be stacked; that is, they define the target position. The master coordinates can be determined using a camera image recorded by cameras 17, 17' from one or more reference marks of the first plate element 10. This is done by gripping the first plate element 10 with the gripper 15, 15' and moving it past the camera 17, 17'.

[0074] The first plate element 10 used to determine the master coordinates can then be placed in the stacking device 13, so that it forms the lowest plate element 10 of the stack 14 to be formed.

[0075] Alternatively, for the further course of procedure 200, previously stored master coordinates or master coordinates made available in other ways can also be used.

[0076] In process step S1, a second plate element 10 is fed from a first direction, e.g. from the left according to Fig. 1, to the removal position 18 immediately in front of the stacking device 13, for example using the conveyor belt 11.

[0077] In process step S2, the plate element 10 is gripped in the removal position 18 by the gripper 15. The gripper 15 is arranged on a multi-axis gantry 16, so that the gripper 15 is linearly movable in the X, Y, and Z directions and rotatable about its Z-axis to adjust the phi angle. Complex motion sequences can be realized by superimposing the aforementioned linear movements and / or the rotational movement.

[0078] In process step S3, the gripper 15, carrying the gripped first plate element 10, is moved past the camera 17. During this movement, the deviation of the actual position of the gripped plate element 10 from a target position in the X and Y directions, as well as in the angular position (Phi), is determined. For this purpose, camera images from the camera 17 can be transmitted to the control and processing unit 19.

[0079] In the subsequent process step S5, the control and processing unit 19 calculates one or more corrective movements in the X direction, Y direction and / or the Phi angular position of the gripper 15, which are necessary to correct the actual position to the target position.

[0080] In process step S6, the calculated correction movements are checked to determine whether they are feasible within the time available to reach the removal position 18 and whether they are feasible with the available movement options of the gripper 15. If the check reveals that at least one of the two aforementioned test criteria is not met, an error message is issued in process step S7 and process 200 is interrupted or terminated.

[0081] If, however, the test shows that both test criteria are met, procedure 200 continues with process step S8. In process step S8, the position of the gripped plate element 10 is corrected according to the calculated corrective movements during the gripper 15's travel. Consequently, the correction takes place "on-the-fly." In process step S9, the position-corrected plate element 10 is placed or stacked in the stacking device 13. Subsequently, process steps S1 to S9 are repeated to form the stack 14. Once the desired stack height is reached, procedure 200 ends.

[0082] Optionally, the third plate element 10' can be stacked from a second direction, e.g., from the right as shown in Fig. 1; that is, the plate elements 10, 10' are fed alternately from two directions. The fourth plate element 10 can then be stacked again from the first direction, and so on.

[0083] The figures are not necessarily detailed or to scale and may be enlarged or reduced to provide a better overview. Therefore, the functional details disclosed here are not to be understood as limiting, but merely as an illustrative basis to guide those skilled in this field of technology in using the present invention in a variety of ways.

[0084] The expression "and / or" used here, when applied to a series of two or more elements, means that each of the listed elements can be used alone, or any combination of two or more of the listed elements can be used. For example, when referring to a series A, B and / or C, this can refer to A alone; B alone; C alone; A and B in combination; A and C in combination; B and C in combination; or A, B, and C in combination.

[0085] List of reference symbols: Panel element ' Panel element Conveyor belt ' Conveyor belt Stacking device Stack Gripper ' Gripper Multi-axis gantry Camera ' Camera Pickup position ' Pickup position Control and processing unit Storage unit Mechanical recording 0 Device 0 Procedure Determine and store master coordinates Feed a panel element Grip the panel element Pass the gripper with the gripped panel element by a camera Determine a deviation of the gripped panel element from a target position Calculate a correction movement Check the calculated correction movement Output an error message Correct the position of the gripped panel element Stack the panel element

Claims

Patent claims 1. Method (200) for precisely stacking plate elements (10, 10') to a stack (14), comprising the method (200): a) (S1) feeding a plate element (10, 10') from a first direction to a stacking device (13) up to a removal position (18, 18') immediately in front of the stacking device (13), b) (S2) gripping the plate element (10, 10') in the removal position (18, 18') with a gripper (15) located on a multi-axis portal (16), 15') and fixing the plate element (10, 10') on the gripper (15, 15'), wherein the gripper (15, 15') is movable on the multi-axis portal (16) in the XYZ direction and rotatable in the Phi angle about its Z-axis, c) (S3) Passing the gripper (15, 15') with the gripped plate element (10) past a camera (17, 17'), wherein a deviation of an actual position of the gripped plate element (10, 10') from a target position in the XY direction and a Phi angular position is determined (S4) and a corrective movement of the gripper (15, 15') in the XY direction and the Phi angular position for aligning the gripped plate element (10, 10') with respect to the target position is calculated (S5), d) (S8) Position correction of the e) (S9) stacking the plate element (10, 10') according to the calculated correction movement during a further movement of the gripper (15, 15'), e) (S9) stacking the plate element (10, 10') in the stacking device (13), and f) repeating steps a) to e) forming the stack (14).

2. Method (200) according to claim 1, wherein the feeding of the plate elements (10, 10') to the stacking device (13) is carried out alternately from two directions.

3. Method (200) according to claim 1 or 2, wherein the feeding of the plate elements (10, 10') is carried out stepwise by the plate elements (10, 10') with each step the movement is linearly moved into a different position.

4. Method (200) according to one of the preceding claims, wherein the plate elements (10, 10') are supplied by means of a conveyor belt (11 , 11 ').

5. Method (200) according to claim 4, wherein the plate elements (10, 10') are fixed in position on the conveyor belt (11) by means of negative pressure or by means of static friction.

6. Method (200) according to one of the preceding claims, wherein the plate elements (10, 10') are gripped by the gripper(s) (15, 15') by means of a vacuum.

7. Method (200) according to one of the preceding claims, wherein the gripper (15, 15') passes the camera (17, 17') without stopping.

8. Method according to one of the preceding claims, wherein the correction movements are calculated in real time.

9. Method (200) according to one of the preceding claims, wherein the plate elements (10) are fed in cycle by cycle.

10. Use of a method (200) according to one of the preceding claims for the manufacture of fuel cells or electrolysis cells.

11. Device (100) for stacking plate elements to form a stack (14) with a precise fit, comprising the device (100): - a stacking device (13), - a multi-axis portal (16), - at least one gripper (15), - at least one camera (17, 17') and - Means adapted to perform the steps of a method (200) according to any one of claims 1 to 9.

12. Computer program comprising commands that cause the device (100) according to claim 11 to execute a method (200) according to any one of claims 1 to 9.

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