Stack handling device comprising a robot and a deflection roller, and method for handling a stack of sheet-type goods

Abstract

The invention relates to a stack handling device (36) which has a robot (01) with a first arm (02) and a first gripper device (06) and a second arm (07) and a second gripper device (07), which can be moved separately from one another, wherein a delivery area (107) of the stack handling device (36) is provided for placement of a delivered stack (103), and wherein each arm (02; 03) has an operating area (112; 113) which overlaps with the delivery area (107), and wherein the stack handling device (36) has a rotatable deflection roller (109) for contacting a stack (04) of sheet-type goods (09), which is and / or can be located at least temporarily in a deflection position, and which, in its deflection position, is located in the operating area (112; 113) of both arms (02; 03), and to a method for handling a stack (04), wherein, in a rolling process, in which the stack (04) is only in contact with the gripper devices (06; 07) and the deflection roller (109), there is a relative movement of the stack (04) and the deflection roller (109) with respect to one another, and the deflection roller (109) rolls over a main surface of the uppermost sheet (09) of the stack (04), while the stack (04) is held by the gripper devices (06; 07).

Description

[0001] 2025-12-08

[0002] 1

[0003] Description

[0004] Stack handling device with a robot and a deflection roller, and a method for handling a stack of arc-shaped goods

[0005] The invention relates to a stack handling device with a robot and a method for handling a stack of arc-shaped goods.

[0006] For example, in sheet-fed printing, stacks of sheet-shaped goods or sheets must be handled, for instance, rearranged. These sheets can be relatively large, and with a corresponding number of sheets per stack, the weight of such a stack becomes correspondingly large and its handling correspondingly strenuous.

[0007] Sometimes, sheets of paper stick together. This phenomenon, also known as blocking, occurs, for example, when sheets are printed and then stacked on top of each other while still drying. These stacks then have to be broken up, which can be quite laborious depending on the sheet size, stack height, and adhesive strength.

[0008] For example, in gravure printing, the printing ink applied to the sheet is often not yet completely dry in the delivery of a sheet-fed printing press. Such sheets are then stored in stacks. These stacks have several support elements, each holding relatively low stacks of sheets. To ensure spacing between the support elements, vertical supports, such as brackets, are placed between them. The stacks are free at the top. This means that only a relatively small weight rests on each sheet, reducing, though often not completely preventing, sheet sticking. If such stacks are to be processed further after drying, they must be [2025-12-08]

[0009] 2. The sheets are then dissolved and usually reassembled into a common stack without support elements or support bodies.

[0010] WO 2012 / 069056 A1 discloses a robot with two arms and two gripping devices for handling stacks of arc-shaped goods.

[0011] WO 2015 / 147724 A1 discloses a robot with two arms and two gripping devices with linearly movable gripping elements and rotatable contact surfaces for handling stacks of arc-shaped goods.

[0012] WO 2015 / 147725 A1 discloses a robot designed for handling stacks, which has two arms pivotable about a common pivot axis, with gripping devices arranged at the ends of the arms. The stacks are lifted at one end and placed back down with the previously downward-facing side pointing diagonally upwards.

[0013] WO 2021 / 170269 A1 discloses a robot arranged in a robot cell with gripping devices for handling arc-shaped goods.

[0014] DE 102010 016 938 B4 discloses a device for removing a partial stack from a stack of sheets. A gripping device with a linearly movable gripping element has two opposing and freely rotatable contact elements.

[0015] By DE 39 33626 C1, DE 32 20 917 C2, EP 2 053 001 B1 and the

[0016] JP 60112537 A each discloses a device by means of which partial stacks can be deformed in order to separate sheets adhering to one another.

[0017] WO 2024 / 176491 A1 discloses a robot with a gripping device, dated 2025-12-08

[0018] 3

[0019] Gripping elements are arranged to pivot relative to each other.

[0020] DE 102009 057 013 A1 and DE 102018 105 025 A1 each disclose a robot with a suction device arranged on its arm.

[0021] DE 102016 008 337 A1 discloses a suction device whose gripping plate can be fixed in its orientation by clamping it in a corresponding position.

[0022] German patent application DE 11 2016 005253 T5 discloses a manufacturing system comprising a robot with arms and a gripping device arranged on one of the arms. The system includes a suction tool that can be grasped by means of the gripping device. The gripping device has an air cylinder, independent of the suction tool, for actuating the gripping elements.

[0023] US patent 2003 / 0177656 A1 discloses a robot that can arrange different tools in different positions for adjustment purposes. These tools include both pneumatic grippers and various suction elements.

[0024] DE 102020 103400 A1 discloses a stacking handling device comprising a multi-axis robot with one arm and two rigidly arranged support arms movably attached to it, each support arm carrying a gripping device. Furthermore, a pivoting device is provided by means of which stacks of sheets can be erected by 90° and, if necessary, pivoted as a whole about a vertical axis before being gripped by the multi-axis robot.

[0025] US Patent 5,083,763 A discloses a device for unblocking sheets that suctions and deforms individual sheets. 2025-12-08

[0026] 4

[0027] German patent DE 102019 116 301 A1 discloses a two-armed robot for handling stacks of sheets in the feed area of ​​a processing machine for processing stacked substrates.

[0028] DE 102021 109 504 B4 and DE 202019 001 204 U1 each disclose a robot with an arm and a gripping device arranged on it for handling stacks of sheets or partial stacks of a stack of sheets.

[0029] DE 11 2021 003446 T5 discloses a robot with an arm and gripping or suction devices attached to it.

[0030] The invention is based on the objective of creating a stack handling device with a robot and a method for handling a stack of arc-shaped goods.

[0031] The problem is solved according to the invention by the features of claim 1 and the features of claim 19.

[0032] A robot preferably has at least one gripping device for handling a stack of arc-shaped goods. The gripping device is preferably arranged on an arm of the robot. Preferably, the robot has two arms, each with a gripping device. The gripping device preferably has a first, for example, lower gripping element with a first contact element – ​​particularly for contact with an arc-shaped good – and a second, for example, upper gripping element with a second contact element – ​​particularly for contact with an arc-shaped good. Preferably, the second gripping element is movable relative to the first gripping element, particularly by means of a motor, and further preferably pivotable about a gripper pivot axis, particularly about an open state of the gripping device and, in particular, about a position defined by the contact elements.

[0033] 5. to change the fixed gripper gap or clamping gap. Preferably, the first contact element is rotatably arranged relative to a first gripper body of the first gripping element about a first compensating axis. Preferably, the second contact element is rotatably arranged relative to a second gripper body of the second gripping element about a second compensating axis. In this way, damage to the sheet-shaped goods during handling of the stack can be avoided, particularly with thin and / or delicate sheet-shaped goods, for example, printed sheets in security printing.

[0034] Preferably, the gripping device comprises a base body connected via a joint to an end element of at least one arm. Preferably, the second gripping element is arranged to be movable relative to the base body, particularly by a motor. The gripping device preferably has a gas transport opening connected to a gas transport line of the robot. Preferably, the second gripping element has the gas transport opening, and this opening, together with the second gripping element and / or the second contact element, is arranged to be movable relative to the base body. Preferably, the gas transport opening of the second gripping element is connected to a switching device via a gas transport line. More preferably, depending on the state of the switching device, the gas transport opening of the second gripping element acts as either an ejection opening or a suction opening.In this way, both the intended release of the second gripping element from an uppermost arc-shaped workpiece can be supported, and a suction tool can be supplied with negative pressure. The switchable design allows both functions to be implemented with a single gas transport opening. This is particularly advantageous in conjunction with the rotatable second contact element, as the gas transport opening can then be centrally located, especially regardless of the current rotational position of the second contact element.

[0035] A system for handling different objects preferably includes at least one robot with at least one arm on which a gripping device is attached. 2025-12-08

[0036] 6 is arranged. The different objects are designed, for example, as arc-shaped goods and / or as stacking support elements, in particular support brackets. The system preferably has at least one suction tool that can be grasped by means of the gripping device. The gripping device preferably has the first and the second gripping elements, which are movable relative to each other by a motor drive in order to change the gripper gap between the first contact element associated with the first gripping element and the second contact element associated with the second gripping element. The suction tool preferably has a tool body and a piping system, wherein the piping system is provided for the gas line and / or is, for example, attached directly or indirectly to the tool body and / or is formed as part of the tool body. Preferably, a connection opening with at least one suction opening is connected by the piping system.The suction tool preferably has a first holding surface, which is provided for contact with the first gripping element and, in particular, the first contact element. The suction tool preferably has a second holding surface, which is provided for contact with the second gripping element and, in particular, the second contact element, and which is arranged on one side of the tool body facing away from the first holding surface.The suction tool is preferably clamped in the gripper gap by means of the gripping device in a relative position referred to as the working position, in which the first gripping element, and in particular the first contact element, is in contact with the first holding surface, and in which the second gripping element, and in particular the second contact element, is in contact with the second holding surface, and in which the robot's gas supply line is connected to the at least one suction opening via the gas supply opening, the connection opening, and the suction tool's piping system. This allows for particularly efficient use of the robot for different tasks with quick and easy changes in its use.

[0037] A stacking handling device, which is preferably part of the system, features 2025-12-08

[0038] 7 preferably comprises at least one robot. The at least one robot preferably has a first arm with a first gripping device and a second arm with a second gripping device, which are arranged to be movable independently of each other. Preferably, the stack handling device has a removal area that is provided for arranging at least one removal stack, which may, for example, be designed as a stack package. A respective working area of ​​the two arms is the respective area of ​​space that can be reached by means of the gripping device arranged on the respective arm. Preferably, a first working area of ​​the first arm overlaps at least partially with the removal area and / or a second working area of ​​the second arm overlaps at least partially with the removal area.The stack handling device preferably has at least one, and more preferably exactly one, rotatable deflection roller designed for contact with a stack of sheet-shaped goods, and which is specifically separate from the arms and is at least temporarily arranged and / or arrangable in a deflection position. In its deflection position, the deflection roller is preferably located at least partially within the first working area of ​​the first arm and within the second working area of ​​the second arm. This allows for handling of the stack that would be impossible for a single operator. Even tightly stuck (blocked) sheets can be separated easily, quickly, and safely.

[0039] Exemplary embodiments of the invention are shown in the drawings and are described in more detail below.

[0040] They show:

[0041] Fig. 1 shows a schematic representation of a robot cell with a two-armed robot;

[0042] Fig. 2 a schematic representation of the two-armed robot; 2025-12-08

[0043] 8

[0044] Fig. 3 shows a schematic representation of one arm of the robot with its working area in a side view;

[0045] Fig. 4 shows a schematic representation of the robot's arm and its working area in a top view;

[0046] Fig. 5 shows a schematic representation of a gripping device;

[0047] Fig. 6 shows a schematic representation of components of a first gripping element;

[0048] Fig. 7 shows a schematic sectional view of a first gripping element;

[0049] Fig. 8 shows a schematic representation of a second gripping element;

[0050] Fig. 9 shows a schematic representation of components of a second gripping element;

[0051] Fig. 10 shows a schematic representation of a robot with a gas piping system, gripping device and suction tool held by it;

[0052] Fig. 11 shows a schematic representation of a stacked package in a side view;

[0053] Fig. 12 shows a schematic representation of a stacked package in a top view;

[0054] Fig. 13 shows a schematic representation of a suction tool;

[0055] Fig. 14 shows a schematic representation of a suction tool;

[0056] Fig. 15 shows a schematic representation of a 2025-12-08 held by a gripping device.

[0057] 9

[0058] Suction tool;

[0059] Fig. 16 shows a schematic representation of a suction tool held by a gripping device;

[0060] Fig. 17 shows a schematic representation of a deflection roller;

[0061] Fig. 18 shows a schematic representation of a withdrawal stack in a top view;

[0062] Fig. 19 shows a schematic representation from above of a stack gripped by two gripping devices;

[0063] Fig. 20 shows a schematic representation of a stack gripped and partially aligned by two gripping devices in a top view;

[0064] Fig. 21 shows a schematic representation of a stack gripped by two gripping devices and fully aligned in a top view;

[0065] Fig. 22 shows a schematic representation of a stack gripped by two gripping devices and a deflection roller in a deflection position in a top view;

[0066] Fig. 23 shows a schematic representation of a stack lifted by two gripping devices in contact with a deflecting roller in a top view;

[0067] Fig. 24 shows a schematic representation of a stack gripped by two gripping devices and fully aligned in a side view;

[0068] Fig. 25 a schematic representation of a 2025-12-08 gripped by two gripping devices

[0069] 10

[0070] Stack and a deflection roller in deflection position in a side view;

[0071] Fig. 26 shows a schematic representation of a stack lifted by two gripping devices in contact with a deflecting roller in a side view;

[0072] Fig. 27 shows a schematic representation of a stack lifted by two gripping devices after a first unwinding process in a side view;

[0073] Fig. 28 shows a schematic representation of a stack lifted by two gripping devices after a second unwinding process in a side view.

[0074] A robot 01 has at least one arm 02; 03 or manipulator 02; 03 on which a gripping device 06 is arranged. The robot 01 is preferably a component of a stacking handling device 36. The stacking handling device 36 therefore preferably has at least one robot 01. In a further embodiment, the stacking handling device 36 has several, and in particular at least two, robots 01. Preferably, the robot 01 has two arms 02; 03 or manipulators 02; 03, on each of which a gripping device 06; 07 is arranged. In particular, the robot 01 preferably has a first arm 02 on which a first gripping device 06 is arranged. Preferably, the robot 01 has a second arm 03 on which a second gripping device 06 is arranged.In an alternative embodiment, two robots 01 are arranged, one robot 01 having the first arm 02 with the first gripping device 06, and another robot having the second arm with the second gripping device 07. The robot 01 is used, in particular, to handle a respective stack 04 of arc-shaped goods 09. These arc-shaped goods 09 are preferably designed as individual sheets 02. For example, the sheets 09 are substrate 09 that is printed and / or intended to be printed after handling by the robot 01. The at least one gripping device 06; 07, and preferably both gripping devices 06; 07, are as described in 2025-12-08.

[0075] 11 at least also designed for handling such stacks 04 of arc-shaped goods 09, especially in combination with each other.

[0076] In the following, robot 01 is described as a robot 01 with two arms 02; 03. Unless contradictions arise, corresponding features are also applicable to robots with one arm 02, for example, details of the gripping device 06; 07. The arms 02; 03 of robot 01 are preferably essentially identical in their function, for example, mirror-symmetrical. Preferably, robot 01 is arranged on a base frame 11, which is preferably stationary. Preferably, a base 12 of the robot, particularly a common one, is pivotable relative to the base frame 11 about a base pivot axis 13. Preferably, a first arm 02 and a second arm 03 are pivotable about respective arm pivot axes 14, particularly independently of each other and preferably coordinated with each other. Preferably, at least one arm 02; 03 is thus movable relative to the base frame 11, which is preferably stationary.(A two-armed robot 01 is also shown as an example in Fig. 2.)

[0077] Each arm 02; 03 of the robot 01 preferably has several, in particular, rigidly connected links 16; 17; 18; 19; 21, which are arranged in pairs connected to each other via joints 23; 26; 28; 31. For example, each arm 02; 03 has a base link 16, which is pivotably connected to the base via a joint 34 about the arm pivot axis 14. For example, each arm 02; 03 has a link 17, designated as an end link 17, to which a gripping device 06; 07 is articulated. Each arm 02; 03 has at least one link 18; 19; 21 designed as an intermediate link 18; 19; 21. 21, via which the end member 17 is articulated to the base member 16.For example, a first intermediate member 18 is pivotable via a first intermediate joint 23 about a first intermediate axis 22 with the 2025-12-08.

[0078] 12

[0079] Base member 16 is connected. For example, a second intermediate member 19 is pivotably connected to the first intermediate member 18 via a second intermediate joint 26 about a second intermediate axis 24. For example, a third intermediate member 21 is pivotally connected to the second intermediate member 19 via a third intermediate joint 28 about a third intermediate axis 27. For example, the end member 17 is pivotally connected to the third intermediate member 21 via a fourth intermediate joint 31 about a fourth intermediate axis 29. For example, the respective gripping device 06; 07 and, in particular, a base body 41 of the respective gripping device 06; 07 is connected to the end member 17 via an end joint 33, and, in particular, pivotally connected about a rotary axis 32, also referred to as the end axis 32. (An arm of a robot 01 is also shown by way of example in Figures 3 and 4.)

[0080] Preferably, each arm 02; 03 has at least four, more preferably at least five, and even more preferably at least six degrees of freedom with respect to movements of the respective gripping device 06; 07 and, in particular, its base body 41. Such degrees of freedom are, in particular, up to three mutually orthogonal translational degrees of freedom and, in particular, up to three rotational degrees of freedom.

[0081] The following describes a gripping device 06; 07 of an arm 02; 03 of the robot 01. In the preferred case of a two-armed robot 01, each of the two arms 06; 07 preferably has such a gripping device 06; 07. Provided there are no contradictions, corresponding features are also applicable to robots with one arm 02 and a corresponding gripping device 06; 07. The two gripping devices 06; 07 of the arms 02; 03 of the robot 01 are preferably essentially identical in design, at least with regard to their function, for example, mirror-symmetrical. (A gripping device 06; 07 is also shown by way of example in Fig. 5.) 2025-12-08

[0082] 13

[0083] The gripping device 06; 07 preferably comprises the base body 41. This base body 41 is, for example, designed as a single piece or as a rigid, multi-part assembly. Preferably, the base body 41 of the gripping device 06; 07 is connected to the end member 17 of the respective arm 02; 03, and more preferably pivotably connected via the end joint 33 and / or about the end axis 32. The gripping device 06; 07 comprises a first gripping element 42 and a second gripping element 43. The first gripping element 42 is also referred to as the lower gripping element 42, particularly because it is designed to be positioned lower than the second gripping element 43, which is correspondingly preferably also referred to as the upper gripping element 43, during the handling of stacks 04 and especially when lifting and / or setting down a stack 04. The gripping device 06; 07 is preferably used to grip stack 04, in particular to clamp it.

[0084] Preferably, the first gripping element 42 comprises a first gripper body 48. Preferably, the first gripping element 42 comprises a first contact element 46, which is also referred to as the lower contact element 46. The first contact element 46 is, in particular, that part of the first gripping element 42 which is provided for contact, especially clamping contact, with a stack 04 of arc-shaped goods 09, particularly with the lowest arc 09 of such a stack 04. The first gripper body 48 preferably serves to position and / or hold the first contact element 46 in its desired position. For example, the first gripper body 48 connects the first contact element 46 to the base body 41 of the gripping device 06; 07 or is a component of the base body 41, for example, the area of ​​the base body facing the first contact element 46.Alternatively, the first gripper body 48 is arranged to be movable relative to the base body 41, for example to change the opening state of the gripping device 06; 07. (A first gripping element 42 is also shown by way of example in Figs. 6 and 7.) 2025-12-08.

[0085] 14

[0086] Preferably, the second gripping element 43 has a second gripper body 49.

[0087] Preferably, the second gripping element 43 has a second contact element 47, which is also referred to as the upper contact element 47. The second contact element 47 is that part of the second gripping element 43 which is provided for contact, in particular clamping contact, with a stack 04 of arc-shaped goods 09, especially with the uppermost arc 09 of such a stack 04. The second gripper body 49 preferably serves to position and / or hold the second contact element 47 in its desired position. For example, the second gripper body 49 connects the second contact element 47 to the base body 41 of the gripping device 06; 07 or is a component of the base body 41, for example, the area facing the second contact element 47. Preferably, the second gripper body 49 is arranged to be movable relative to the base body 41, for example, by means of a motor, in order to change the opening state of the gripping device 06; 07.(A second gripping element 42 is also shown by way of example in Figs. 8 and 9.)

[0088] Preferably, the first gripping element 42 and the second gripping element 43 are movable relative to each other by a motor. Preferably, the second, in particular the upper, gripping element 43 is movable relative to the first, in particular the lower, gripping element 42, and is preferably driven by a motor. More preferably, the second gripping element 43 is pivotably arranged relative to the first gripping element 42 about a gripper pivot axis 44, particularly to change the opening state of the gripping device 06; 07 and / or a gripper gap 51 or clamping gap 51 defined by the contact elements 46; 47. Preferably, the second gripper body 49 and / or the second gripping element 43 is movable relative to the base body 41, and is preferably driven by a motor, and is preferably arranged to pivot about the gripper pivot axis 44.

[0089] Preferably the gripping device 06; 07 has for transmitting torque between 2025-12-08

[0090] Figure 15 shows a gripping drive 64 and a second gripping element 43, and a threaded device 66. The gripping drive 64 is, for example, designed as a position-controlled electric motor. The threaded device 66 has, for example, a threaded spindle 67 and a spindle nut 68 that interacts with it. For example, the threaded spindle 67 is rotatably mounted on the base body 41, while the spindle nut 68 is mounted on the second gripping element 43. Preferably, the spindle nut 68 is pivotably connected to the second gripping element 43 and, more preferably, by means of a bearing that compensates for differences in length when the second gripping element 43 is moved relative to the spindle nut 68.

[0091] The opening state of the gripping device 06; 07 is determined in particular by the distance 51 between the first contact element 46 and the second contact element 47. This distance 51 is also referred to as the gripper gap 51 or clamping gap 51, especially because the respective stack 04 is held by the gripping device 06; 07 by being clamped in the gripper gap 51 between the two contact elements 46; 47. A change in the opening state is equivalent to a change in the distance 51 between the clamping elements 46; 47. Whether the clamping gap 51 holds a stack 04 or not then depends not only on the distance 51 but also on the thickness of the stack 04 and, if applicable, on a clamping force.The first, in particular lower, contact element 46 preferably has a flat, in particular first contact surface 56, which is preferably arranged facing the second contact element 47 and / or is preferably made of an elastic material such as rubber. The second, in particular upper, contact element 47 preferably has a second contact surface 57, preferably made of an elastic material such as rubber, which is preferably arranged at least partially facing the first contact element 46. An outer surface of the second upper contact element 47 preferably has at least partially, and in particular in the area of ​​the second contact surface 57, the shape of a convex spherical cap. This allows for particularly gentle handling of the uppermost arc-shaped item 2025-12-08.

[0092] 16

[0093] 09 of the stack 04, in particular regardless of the opening state of the gripping device 06; 07.

[0094] Since the stack 04 is held by the gripping device 06; 07 by clamping, the uppermost and lowermost arcs 09 are preferably arranged immovably relative to the respective contact element 46; 47 when the stack 04 is clamped. However, movements of the respective arm 02; 03 or both arms 02; 03 may necessitate a change in the position and, in particular, the orientation of the respective contact element 46; 47 relative to the stack 04 without releasing the stack 04, for example, because the movements of the arm 02; 03 or arms 02; 03 cannot be ideally executed to compensate for internal movements of the stack 04 such as deflection, etc.In particular, to prevent damage to sheet 09, for example by a pivoting movement of the contact elements 46; 47 relative to the stack 04, at least one of the contact elements 46; 47 is preferably arranged to be movable relative to the gripper bodies 48; 49 carrying them, and in particular to be pivotable.

[0095] Preferably, the first contact element 46 is arranged to be freely rotatable, and in particular pivotable, about a first compensating axis 52 relative to the first gripper body 48 of the first gripping element 42. This free rotatability means, in particular, that the first contact element 46 is passively rotatable—that is, without its own drive—but rather can rotate spontaneously or only through the influence of a relative movement between the first gripping element 42 and the stack 04 about this compensating axis 52. The angular range of this rotatability may be limited, but is preferably unlimited. Preferably, the first contact element 46 has a circular cross-section orthogonal to the first compensating axis 52, particularly in the region of the first contact surface 56.

[0096] Preferably the first contact element 46 - for example directly or preferably indirectly - 2025-12-08

[0097] The first, and in particular lower, gripper body 48 is supported by an axial bearing 59. For example, the first, and in particular lower, contact element 46 is connected, in particular by a material bond, to a support element 61, which is connected to the first gripper body 48 via an axial bearing 59. This axial bearing 59 is, for example, designed as an axial cylindrical roller bearing or as an axial deep groove ball bearing. The axial bearing 59 preferably rolls on a correspondingly hard substrate. The first contact element 46 and / or the support element 61 preferably has a centering pin 62 that extends along the first compensating axis 52 and, in conjunction with a sliding surface 63 that is fixed, in particular relative to the first gripper body 48, determines the radial position of the first contact element 46 with respect to the first compensating axis 52.For example, a locking device 69, preferably designed as a retaining ring 69, is arranged which restricts movement of the contact element 46 and / or the support element 61 along the first compensating axis 52. A rolling bearing can preferably be omitted at this point because rotational movements are only provided in cases where a force pushes the contact element 46 and / or the support element 61 in the direction of the axial bearing 59.

[0098] Preferably, the second contact element 47 is arranged to be freely rotatable, and in particular pivotable, about a second compensating axis 53 relative to the second gripper body 49 of the second gripping element 43. This free rotatability means, in particular, that the second contact element 47 is passively rotatable—that is, without its own drive—but rather can rotate spontaneously or only through the influence of a relative movement between the second gripping element 43 and the stack 04 about this compensating axis 53. The angular range of this rotatability may be limited, but is preferably unlimited. Preferably, the first contact element 46 has a circular cross-section orthogonal to the second compensating axis 53, particularly in the area of ​​the second contact surface 57. 2025-12-08

[0099] 18

[0100] Preferably, the second contact element 47 is supported against the second, in particular upper, gripper body 49, for example, directly or, more preferably, indirectly, via a corresponding bearing arrangement 71. Preferably, the second contact element 47 is connected to the second gripper body 49 at least via a spherical bearing 54. The spherical bearing 54 is preferably part of this bearing arrangement 71. A spherical bearing 54, or ball bearing 54, is in particular a bearing 54 that allows rotation about a central point in two orthogonal directions. For example, an inner ring 72 of this spherical bearing 54 supports a second support element 73. The second support element 73 is preferably rotatably arranged about the second compensating axis 53, for example, via a rolling bearing or via sliding surfaces relative to and / or in conjunction with the inner ring 72.The alignment of the second compensating axis 53 relative to the second gripper body 49 is thus preferably adjustable by the corresponding alignment of the spherical bearing 54. In other words, the spherical bearing 54 allows a change in the position of the second compensating axis 53 relative to the second gripper body 49. This allows clamping of stacks 04 of varying thicknesses while still optimizing the alignment of the second compensating axis 53 relative to the surface of the respective stack 04. The spherical bearing 54 is designed, for example, as a spherical axial bearing and / or as a sliding bearing or as a rolling bearing. For example, the second, in particular upper, contact element 47 is preferably materially bonded to the second support element 73, which is connected to the second gripper body 49 via the bearing assembly 71 and / or the spherical bearing 54.

[0101] The robot 01 preferably has a gas piping system 74. The gas piping system 74 is preferably connected to a pressure source 76. The pressure source 74 is, for example, a connection to a compressed air line. The compressed air can be generated within the robot 01 or connected to the robot 01 from an external source. The gas piping system 74 is preferably connected to a vacuum source 77. The vacuum can be... 2025-12-08

[0102] 19 in the area of ​​robot 01 are generated or are connected to robot 01 from an external location.

[0103] The gripping device 06; 07 preferably has at least one ejection opening 58; 78; 79, which is provided for ejecting gas, in particular compressed air. Preferably, the first gripping element 42 has at least one ejection opening 78; 79, and more preferably several ejection openings 78; 79, particularly in the area of ​​the first gripper body 48 and / or in the vicinity of the first contact element 46. For example, the first gripper body 48 has at least one, and more preferably a plurality, of ejection openings 78, in particular upper ones, on its side facing the second gripper body 49, which are more preferably arranged distributed around the first contact element 46.For example, the first gripper body 48 has at least one, and more preferably a plurality, of discharge openings 79 on its side facing away from the end member 17, which are further preferably arranged distributed along a particularly rounded boundary surface of the first gripper body 48. The upper discharge openings 78 and / or the front discharge openings 79 are preferably connected directly or indirectly to the overpressure source 76 via at least one supply line 81.

[0104] The upper discharge openings 78 and / or the front discharge openings 79 serve in particular to prevent unintended collisions with arc-shaped goods 09 in the vicinity and / or damage to the arcs 09 during intended relative movements between stack 04 or sheet 09 on the one hand and gripping device 06; 07 on the other, for example, when the first gripping element 42 is inserted between a stack 04 to be gripped and a supporting removal surface. For example, a bottom arc 09 of the stack 04 to be gripped is moved upwards by a gas stream away from the first gripping element 42 and towards the rest of the stack 04 until the first gripping element 42 is brought into targeted contact with it. Preferably, the escape of gas through the upper discharge openings 78 and / or the 2025-12-08

[0105] 20 front ejection openings 79 controlling and / or regulating device with a machine control of the robot 01 and / or the stack handling device 36 connected in circuitry.

[0106] Preferably, the second gripping element 43 has at least one gas transport opening 58, which at least temporarily functions as an ejection opening 58. More preferably, the second gripping element 43 has at least one gas transport opening 58, which at least temporarily functions as a suction opening 58. Further preferably, the gripping element 43 has at least one gas transport opening 58, which, depending on the operating mode, functions as either an ejection opening 58 or a suction opening 58. The at least one gas transport opening 58 of the second gripping element 43 is preferably arranged in the region of the second contact element 47. More preferably, the second contact element 47 has a gas transport opening 58, particularly in the region of the ball cap and / or extending through the ball cap, which is connected to the gas supply system 74 of the robot 01.

[0107] Each gas transport opening 58 of the second gripping element 43, designed as an ejection opening 58, is preferably connected directly or indirectly to the overpressure source 76 via a gas transport line 82. Each gas transport opening 58 of the second gripping element 43, designed as a suction opening 58, is preferably connected directly or indirectly to the underpressure source 77 or vacuum source 77 via a gas transport line 82. Preferably, the gas transport opening 58 of the second gripping element 43 is connected to a switching device 83 via a gas transport line 82. The switching device 83 is preferably connected to the overpressure source 76 via an overpressure line 84 and to the underpressure source 77 or vacuum source 77 via an underpressure line 86. Alternatively, the switching device 83 can be a gas conveying device or gas pump whose conveying direction can be reversed.Depending on the state of the switching device 83, the respective gas transport opening 58 of the second gripping element 43 then acts as 2025-12-08.

[0108] 21

[0109] Ejection opening 58 or as suction opening 58. Preferably, the switching device 83 is connected to the machine control of the robot 01 and / or the stack handling device 36 via circuitry.

[0110] The switching device 83 is, for example, arranged to be movable relative to the base frame 11 of the robot 01, which is, in particular, stationary. Preferably, the robot 01 has the switching device 83 in an area relative to which at least the entire gripping device 06; 07 is arranged to be movable by means of at least one arm 02; 03. For example, the switching device 83 is arranged on the common base 12 of the robot 01 and, more preferably, is pivotable together with the common base 12 relative to the base frame 11. In particular, this keeps the weight handled by means of the arms 02; 03 low. In another embodiment, the switching device 83 is movable on the respective arm 02; 03 and together with the respective arm 02; 03. Preferably, each gripping device 06; 07 is assigned its own gas transport line 82 and, for example, its own switching device 83.

[0111] The respective gas transport opening 58 of the second gripping element 43, designed as an ejection opening 58, serves in particular to ensure, when the gripping device 06; 07 is opened, especially when a stack 04 is released, that at least one uppermost arc-shaped item 09 detaches correctly and sufficiently quickly from the second gripping element 43 and, in particular, from the second contact element 47. Preferably, a device controlling and / or regulating the release of gas through the gas transport opening 58, designed as an ejection opening 58, is connected to the machine control of the robot 01 and / or the stack handling device 36 via a circuit.

[0112] The respective gas transport opening 58 designed as a suction opening 58 of the second

[0113] Gripping element 43 serves in particular to function in conjunction with a suction tool 2025-12-08

[0114] 22

[0115] 38 serves as part of a detachable line connection and transmits the negative pressure prevailing in the gas transport line 82 to a line system 88 of the suction tool 38. Preferably, a device controlling and / or regulating the intake of gas through the gas transport opening 58, which is designed as a suction opening 58, is connected to the machine control of the robot 01 and / or the stack handling device 36 via a circuit. (The gas line system 74 of the robot 01 and a suction tool held by a gripping device 06; 07 are also shown in Fig. 10 by way of example.)

[0116] Each stack 101 preferably comprises several, in particular panel-shaped, support elements 102. The support elements 102 are, for example, designed as boards 102 and preferably have rectangular main surfaces. A removal stack 103, formed from several sheets 09, is preferably arranged on at least one, preferably several, and more preferably each of these support elements 102. A removal stack 103 is understood to be, in particular, a stack of sheets 09 from which a stack 04 is to be removed by means of the at least one gripping device 06; 07. A residual stack 104 may remain, or the entire removal stack 103 may be removed as a single stack 04. For example, uncured printing ink can cause sheets 09 of a stack to become stuck together. This is promoted by high pressing forces, which, for example, act in the lower part of tall stacks due to the weight of the upper sheets.To prevent this, the removal stacks 103 are preferably arranged on the support elements 102, which in turn do not rest on the arches 03. Instead, the stack package 101 preferably has a type of rack formed from alternating layers of support elements 102 and stack support elements 08. The stack support elements 08 each rest on a support element 102 arranged below them and themselves support a support element 102 above them. The removal stacks 103 lie on a respective support element 102 and are preferably free or unloaded at the top. Such stack support elements 08 are, for example, particularly 2025-12-08.

[0117] 23 metallic support brackets 08 are formed and can, for example, lie on their edges in pairs to form a layer on which a support element 102 can be stably arranged. (An example of a stacked package 101 is also shown in Figs. 11 and 12.)

[0118] To unstack such a stack package 101, stacks 04 must be removed until each removal stack 103 is completely removed from the respective support element 102. Additionally, the stack support elements 08 must also be removed, and then the respective support element 102 must be removed.

[0119] These processes must then be repeated until batch package 101 is completely resolved.

[0120] A preferred system 37 for handling different objects 08; 09 preferably comprises at least one robot 01 with at least one arm 02; 03 on which a gripping device 06; 07 is arranged. The robot 01 is preferably configured as described above. In particular, the gripping device 06; 07 is preferably configured as described above. The system 37 preferably comprises at least one suction tool 38 that can be gripped by means of the gripping device 06; 07. The stacking handling device 36 is preferably a component of the system 37.

[0121] Preferably, the system 37 is designed as a system 37 for handling a stack 04 of arc-shaped goods 09 by means of the at least one gripping device 06; 07 and for handling particularly rigid stack support elements 08 by means of the suction tool 38.

[0122] The gripping device 06; 07 preferably has the first gripping element 42 and the second gripping element 43, which are movable relative to each other by a motor in order to change the gripper gap 51 between the first contact element 46 assigned to the first gripping element 42 and the second contact element 47 assigned to the second gripping element 43 and in particular to change the opening state of the 2025-12-08

[0123] 24

[0124] Gripping device 06; 07 to be modified. The assignment of the first contact element 46 to the first gripping element 42 means, in particular, that the first contact element 46 is a component of the first gripping element 42 and / or is movable together with the first gripping element 42. The assignment of the second contact element 47 to the second gripping element 43 means, in particular, that the second contact element 47 is a component of the second gripping element 43 and / or is movable together with the second gripping element 43.

[0125] The gripping device 06; 07 preferably has a gas transport opening 58 connected to the gas transport line 82 of the robot 01, which is further preferably also designed and / or usable as a suction opening 58. It is preferably provided that the robot 01 can handle a stack 04 or at least one stack support element 08, and in particular two stack support elements 08 simultaneously, depending on the current requirements. It is therefore preferably provided that the gripping device 06; 07 can handle either the stack 04 or the respective suction tool 38, which in turn handles a respective stack support element 08, depending on the current requirements. The respective stack 04 is preferably gripped by means of the at least one gripping device 06; 07. The respective stack support element 08 is preferably suctioned by means of the respective suction tool 38, while this respective suction tool 38 is in turn gripped by means of the respective gripping device 06; 07.Each suctioned stacking support element 08 is preferably fed to a first collection area 39 for stacking support elements 08 by means of the corresponding arm 02; 03 and the corresponding gripping device 06; 07. Preferably, the respective suction tool 38 is then placed at a storage location, whereby the suction tool 38 is already released by opening the corresponding gripping device 06; 07. A stack 04 can then preferably be gripped by means of the gripping devices 06; 07, and after its handling as described later, the respective suction tool 38 can be gripped and inserted again. Support elements 102 are preferably handled by means of at least one separate transport element 131. Alternatively, support elements 102 2025-12-08.

[0126] 25 also handled by means of the arms 02; 03, the gripping devices and the suction tools 38 held by them.

[0127] The suction tool 38 preferably comprises a tool body 87 and a conduit system 88, which is attached directly or indirectly to the tool body 87 and / or formed as part of the tool body 87. Preferably, a connection opening 89 with at least one suction opening 91; 92 is connected via the conduit system 88. The connection opening 89 serves in particular for indirect connection to a vacuum source 77. The at least one suction opening 91; 92 serves in particular for suctioning and holding an object 08, especially a stacking support element 08. Preferably, the suction tool 38 is designed to be rigid except for passive deformations of elastic components. (An example of a suction tool 38 is also shown in Figures 13 and 14.)

[0128] The suction tool 38, and in particular the tool body 87, preferably has a first holding surface 93, which is provided for contact with the first gripping element 42, and in particular with the first contact element 46. The suction tool 38, and in particular with the tool body 87, preferably has a second holding surface 94, which is provided for contact with the second gripping element 43, and in particular with the second contact element 47. The second holding surface 94 is preferably arranged on a side of the tool body 87 facing away from the first holding surface 93. This allows the suction tool 38 to be gripped by means of the gripping device 06; 07.The suction tool 38 is preferably clamped in the gripper gap 51 by means of the gripping device 06; 07 in a relative position referred to as the working position, in which the first gripping element 42 and in particular the first contact element 46 is in contact with the first holding surface 93 and in which the second gripping element 43 and in particular the second contact element 47 is in contact with the second holding surface 94 and in which the gas transport line 82 of the robot 01 is connected to the 2025-12-08 via the gas transport opening 58, the connection opening 89 and the line system 88 of the suction tool 38.

[0129] 26 at least one intake opening 91; 92 is connected by a pipe connection. In particular, this connection is gas-tight.

[0130] As described, the gripping device 06; 07 preferably has a base body 41, which is preferably connected via an end joint 33 to an end member 33 of the at least one arm 02; 03. As described, the second gripping element 43 is preferably arranged to be movable relative to the base body 41, in particular by a motor. The second gripping element 43 preferably has the gas transport opening 58. This gas transport opening 58 is preferably arranged to be movable relative to the base body 41 together with the second gripping element 43 and / or the second contact element 47. Preferably, when the suction tool 38 is arranged in the working position relative to the gripping device 06; 07, the line connection between the at least one suction opening 91; 92 and the gas transport line 82 of the robot 01 can be interrupted by opening the gripping device 06; 07, in particular solely by opening the gripping device 06; 07.This interruption occurs particularly at the location of the connection opening 89. Preferably, the working position of the suction tool 38 relative to the gripping device 06; 07 can be established by closing the gripping device 06; 07, and at the same time, the pipe connection between the at least one suction opening 91; 92, particularly at the location of the connection opening 89, and the gas transport line 82 of the robot 01 can be established, particularly in a gas-tight manner. This connection is sufficiently tight already by virtue of the contact established by closing the gripping device 06; 07. In particular, no locking mechanism or other intervention is necessary. The connection is therefore easy to make and easy to disconnect. (By way of example, a suction tool 38 held by a gripping device 06; 07 is also shown in Figures 15 and 16.)

[0131] Preferably, the connection opening 89 is designed as an opening of an elastic and / or spring-mounted connection body 98 relative to the tool body 87. Consequently, the force establishing the pipe connection does not depend exclusively on 2025-12-08

[0132] 27 depends on how firmly the gripping device 06; 07 clamps the suction tool 38 and / or how precisely the working position is maintained. The second holding surface 94 of the suction tool 94 preferably has, at least partially and especially in the area immediately surrounding the connection opening 89, the shape of a concave spherical cap. Its curvature is preferably matched to a curvature of the outer surface of the second contact element 47, which further preferably has, at least partially, the shape of a convex spherical cap, such that reliable attainment and retention of the working position is ensured, as is a gas-tight pipe connection.

[0133] The suction tool 37 preferably has at least one suction opening 91 of the first type and at least one suction opening 92 of the second type. A first elastic surrounding body 96 surrounding the at least one suction opening 91 of the first type is preferably softer than a second elastic surrounding body 97 surrounding the at least one suction opening 92 of the second type, for example with regard to a hardness measurement according to Shore A or Shore D or EN ISO 868. For example, the at least one suction opening 91 of the first type is smaller than each suction opening 92 of the second type. The suction opening 91 of the first type serves in particular to establish initial contact between the suction tool 38 and the object, especially the respective stacking support element 08, and to prevent accidental slippage by applying negative pressure.The at least one suction opening 92 of the second type is preferably arranged in the correct position relative to the object, in particular the respective stacking support element 08, and serves in particular to hold the object, in particular the respective stacking support element 08, firmly by means of negative pressure in such a way that lifting is made possible, in particular without a jamming grip on the object itself.

[0134] The suction tool 38 preferably comprises exclusively passive elements. In particular, the suction tool 38 preferably has no adjustable and / or controllable components. 2025-12-08

[0135] 28

[0136] Preferably, the stack handling device 36 comprises at least one robot 01. As described, the at least one robot 01 has a first arm 02 with a first gripping device 06 and a second arm 03 with a second gripping device 07, which are arranged to be movable independently of each other. Preferably, the robot 01 has two arms 02 and 03.

[0137] The stack handling device 36 preferably has a removal area 107, which is provided for arranging at least one removal stack 103. This at least one removal stack 103 is preferably the respective uppermost removal stack 103 of a stack package 101, in particular designed as described above. Alternatively, a removal stack 103 consisting only of arc-shaped goods 09 can also be handled.

[0138] Each working area 112; 113 of the two arms 02; 03 is preferably that area 112; 113 which is reachable by means of the gripping device 06; 07 arranged on the respective arm 02; 03. A first working area 112 of the first arm 02 preferably overlaps at least partially with the removal area 107. In particular, this enables the first gripping device 06 to grasp stacks 04 within the removal area 107. A second working area 113 of the second arm 03 preferably overlaps at least partially with the removal area 107. In particular, this enables the second gripping device 07 to grasp stacks 04 within the removal area 107. Preferably, the two arms 02; 03 are arranged and movable such that each of the two gripping devices 06; 07 reaches the extraction area 107 and / or an extraction stack 103 arranged in the extraction area 107.

[0139] The stack handling device 36 preferably has at least one and further preferably exactly one for contact with a stack 04 of arc-shaped goods 09 and in particular separated from the arms 02; 03 or the gripping devices 06; 2025-12-08

[0140] 29

[0141] The system comprises seven different deflection bodies 109, which are at least temporarily arranged and / or can be arranged in a deflection position. Preferably, this deflection body 109 is designed as a deflection roller 109, which is rotatable about a roller rotation axis 118 and can be arranged at least temporarily in a deflection position. Preferably, the deflection roller 109 is rotatable about the roller rotation axis 118 by more than one full revolution (more than 360°), and more preferably by more than ten revolutions (more than 3,600°). The deflection body 109, and in particular the deflection roller 109, is preferably arranged in its deflection position at least partially in the first working area 112 of the first arm 02 and in the second working area 113 of the second arm 03.The deflecting body 109, and in particular the deflecting roller 109, preferably serves, especially in conjunction with the gripping devices 06; 07 movable by the arms 02; 03, to deform a respective stack 04 in such a way that, for example, sheets 09 adhering together by printing ink separate from one another, preferably, however, without releasing or disintegrating the stack 04 itself. For this purpose, the stack 04 is preferably bent in on itself and guided around the deflecting body 109 in such a way that relative movements, for example shear movements, occur between the sheets 09, causing the individual sheets 09 to separate from one another. Since the gripping devices 06; 07 preferably continue to hold the stack 04 in place, it does not fall apart.

[0142] Preferably, at least one deflection roller 109 is rotatably mounted in a roller suspension 111. In an exemplary case, the roller suspension 111 is designed as a sheet metal construction, which provides a bearing point for the roller rotation axis 118 of the deflection roller 109 at each end. The roller suspension 111 is preferably held by a support body 114 by means of at least one flexible suspension connection 116. This flexible suspension device 116 serves in particular to allow the deflection roller 109, and especially its roller rotation axis 118, to be deflected from its intended position associated with the deflection position under sufficiently large acting forces. 2025-12-08

[0143] 30 in particular to prevent damage to the stack 04 and / or slippage of the stack 04 in a gripping device 06; 07. Preferably, the roller rotation axis 118 of the deflecting roller 109 is mounted by means of a support body 114, which is stationary, particularly during the use of the deflecting roller 109, and is arranged to be deflected from its intended position by forces transmitted from the stack 04 at most. The at least one flexible suspension connection 116 therefore preferably allows displacements and / or pivoting movements of the roller rotation axis 118 of the at least one deflecting roller 109.

[0144] For example, at least two upward-projecting pins are arranged on the roller suspension 111. These pins protrude through corresponding openings in the support body 114 and have a thickening above each opening. This thickening prevents the pin from being completely withdrawn from the opening, thus suspending the roller suspension 111. Preferably, these pins are movable upwards through their respective openings, for example, until the roller suspension 111 abuts the support body 114. This allows for an exceptional deflection of the deflecting roller 109 from its target position, whereby, in the absence of a corresponding force, gravity returns the deflecting roller 109 to its target position. Preferably, at least one spring element is arranged which, in addition to gravity, pushes the deflecting roller 109 into its target position.For example, the support body 114 has pivotable components which have the respective opening and which are pivotable relative to the rest of the support body 114 to compensate for inclinations, in particular to avoid jamming. (An example of a deflection roller with its holding device is also shown in Fig. 17.)

[0145] Preferably, the at least one deflection roller 109 is arranged to be movable between the deflection position and a parking position by means of an adjusting device 117. This adjusting device 117 is preferably designed as a pivoting device 117. According to 2025-12-08

[0146] 31 The at least one deflection roller 109 is preferably pivotably arranged between the deflection position and the parking position about a roller pivot axis 119 by means of the actuating device 117, which is designed as a pivoting device 117. The actuating device 117 preferably has a drive 124, also referred to as a roller pivoting drive 124, which is preferably designed as a linear drive, for example as a pneumatic or hydraulic cylinder or as an electric linear drive. This drive 124 is pivotably mounted, for example, on the support body 114 and on a holding device 121.

[0147] When the deflecting roller 109 is in the deflection position, the axis of rotation 118 of the deflecting roller 109 preferably deviates from a horizontal direction by at most 30°, more preferably by at most 20°, more preferably by at most 10°, and even more preferably by a horizontal direction. When the deflecting roller 109 is in the standby position, the axis of rotation 118 of the deflecting roller 109 preferably deviates from a vertical direction by at most 60°, more preferably by at most 40°, more preferably by at most 20°, and even more preferably by at most 10°. For example, when the deflecting roller 109 is in the standby position, the axis of rotation 118 of the deflecting roller 109 is oriented parallel to the vertical direction.

[0148] The at least one deflection roller 109 is preferably connected to a guide device 122 via the holding device 121, in particular such that the deflection roller 109 is connected to the roller suspension 111, the roller suspension 111 to the support body 114, the support body 114 to the holding device 121, and the holding device 121 to the guide device 122. Preferably, the holding device 121 can be arranged in different positions along the guide device 122 relative to the removal area 107. For example, the guide device 122 has at least one rail and / or at least one rod along which the holding device 121 can be moved along a guide path.

[0149] Preferably, a guidance path defined by this guidance device extends to 2025-12-08

[0150] 32 essentially linear and / or horizontal.

[0151] The deflection roller 109 is preferably arranged in its deflection position at least partially within the removal area 107 and / or at least partially vertically directly above the removal area 107. Interaction with the stack 04 held by the gripping devices 06; 07 is then possible immediately after the stack 04 is lifted.

[0152] Preferably, the deflecting roller 109 has a weight sufficient to exert a corresponding force on stacks 04 drawn along beneath the deflecting roller 109. For example, the deflecting roller 109 weighs at least 2 kg, preferably at least 5 kg, more preferably at least 8 kg, and even more preferably at least 9 kg. Preferably, the deflecting roller 109, and in particular its rotatable outer surface oriented parallel to the roller rotation axis 118, has a length sufficient to substantially influence the stack 04.

[0153] For example, this length is at least 40 cm, preferably at least 60 cm, more preferably at least 70 cm, and even more preferably at least 80 cm. The diameter of the deflection roller 109 is preferably greater than 20 mm, more preferably greater than 35 mm, even more preferably greater than 45 mm, and even more preferably greater than 55 mm. The diameter of the deflection roller 109 is preferably less than 100 mm, more preferably less than 85 mm, even more preferably less than 75 mm, and even more preferably less than 65 mm. Preferably, the deflection roller 109 has a vulcanized outer surface.

[0154] Preferably, the stack handling device 36 has at least one sheet clamp 123, separate from the arms 02; 03 and the deflecting roller 109, which is provided for contact with an uppermost sheet 09 of a dispensing stack 103 and is movably arranged between a clamping position and a ready position. Preferably, the at least one sheet clamp 123, in its clamping position, is at least partially located in the dispensing area 107 and / or at least partially vertically. 2025-12-08

[0155] 33 is arranged directly above the removal area 107. The at least one sheet clamp 123 serves in particular to fix at least one uppermost sheet 09 of the stack 04 during gripping with a gripping device 06; 07 with respect to unwanted horizontal movements. The at least one sheet clamp 123 is preferably movable along a linear and / or horizontal path, for example along the guide device 122. Alternatively or additionally, the at least one sheet clamp 123 is pivotably arranged about a clamp axis, which is, for example, oriented vertically or horizontally.

[0156] Preferably, the stacking handling device 36 has at least one first collection area 39 for support elements 08. When a stack package 101 is divided, the removed support elements 08 can be placed there, in particular using at least one arm 02; 03, at least one gripping device 06; 07 and at least one suction tool 38. For example, a first transport means can be arranged in the first collection area 39 on which the support elements 08 can be collected.

[0157] Preferably, the stacking handling device 36 has at least one transport element 131, which is provided for transporting support elements 102. The at least one transport element 131 has, for example, gripping means and / or suction means to hold and transport support elements 102. The at least one transport element 131 is, for example, movable along the guide device 122. Preferably, the stacking handling device 36 has at least one second collection area 99 for support elements 102. When a stack package 101 is divided, the removed support elements 102 can be placed there, in particular using the at least one

[0158] Transport element 131. For example, a second transport means can be arranged in the second collection area 99, on which the support elements 102 can be collected. 2025-12-08

[0159] 34

[0160] Preferably, the stack handling device 36 has at least one storage area 108, which is provided for storing at least one stack 04 of sheet-shaped goods 09. The first working area 112 of the first arm 02 preferably overlaps at least partially with the storage area 108. The second working area 113 of the second arm 03 preferably overlaps at least partially with the storage area 108. In this way, stacks 04 can be removed from a removal stack 103 in the removal area 107 by means of the gripping devices 06; 07 and placed in the storage area 108, for example, to combine several stacks 04 there. Between removal and placement, the individual stacks 04 can preferably be moved within themselves by means of the deflection roller 109 and the gripping devices 06; 07 such that sheets 09 that are stuck together separate from each other.

[0161] The following describes a preferred method for handling a stack 04 of arc-shaped goods 09. The stack 04 to be handled is preferably initially located on a fixed surface, for example, a support element 102. Alternatively, the stack 04 to be handled is removed from a removal stack 103 as its uppermost section. For example, a separating device (not shown) is first guided to below the lowest arc 09 of the stack 04 to be handled, and then the stack 04 is lifted and / or the surface supporting the stack 04 and / or the remaining stack 104 is lowered. Preferably, at least one gap is created below the stack 04 into which the respective gripping device 06; 07 can be at least partially inserted, in particular the respective first gripping element 42.The respective gripping device 06; 07 can then, for example, be guided along an edge of the stack 04 to a specific point where the respective gripping device 06; 07 can grasp the stack 04 by closing it. (An example of a removal stack is also shown in Fig. 18.)

[0162] Preferably, in a first gripping operation, the arm 02 on the first arm of at least 2025-12-08 engages.

[0163] 35. A first gripping device 06, arranged on a robot 01, grips a stack 04, which is still configured as a removal stack 103 or as the upper part of a removal stack 103 of arc-shaped goods 09, at a first point. This first point is preferably located substantially in the region of a first corner of the stack 04. Preferably, in a second gripping operation, the second gripping device 07, arranged on the second arm 03 of the at least one robot 01, grips the stack 04, which is still configured as a removal stack 103 or as the upper part of the removal stack 103, at a second point. This second point is preferably located substantially in the region of a second corner of the stack 04, which is further preferably arranged diagonally opposite the first corner. The arcs 09 are preferably substantially rectangular.For example, the top sheet 09 of the stack 04 is subjected to a force from above by means of the at least one sheet clamp 123 during the first and / or the second gripping operation. For example, the at least one sheet clamp 123 is placed on the stack 04 before the first gripping operation and lifted off again after the second gripping operation. (An example of a stack 04 gripped by two gripping devices is also shown in Fig. 19.)

[0164] For example, after the gripping operations and, more preferably, after the removal of the preferably used at least one sheet clamp 123, the stack 04, which is already held by means of the gripping devices 06; 07, is aligned in an alignment operation, for example, pivoted about a preferably vertical alignment axis, and in particular about a pivot angle that is preferably between 25° and 65°, more preferably between 35° and 55°, and even more preferably between 40° and 50°. (An exemplary stack 04 gripped by two gripping devices and partially aligned is also shown in Fig. 20. An exemplary stack 04 gripped by two gripping devices and fully aligned is also shown in Figs. 21 and 24.)

[0165] Preferably, especially afterwards, the following is done in a roller positioning process:

[0166] Deflection roller 109 by means of the adjusting device 117 from a parking position into its 2025-12-08

[0167] 36

[0168] The deflection position is moved, in particular pivoted. The deflection roller 109 preferably remains initially spaced apart from the stack 04. The gripping devices 06; 07 and / or the stack 04 preferably remain stationary. (By way of example, a stack 04 gripped by two gripping devices and a deflection roller 109 in a deflection position are also shown in Figures 22 and 25.)

[0169] Preferably, in a subsequent contacting process, contact is established at an initial contact point between the uppermost arc 09 of the stack 04 and the deflecting roller 109. This is preferably achieved by moving, and in particular lifting, the stack 04. Alternatively or additionally, the deflecting roller 109 is moved to establish this contact. (By way of example, a stack 04 lifted by two gripping devices in contact with the deflecting roller 109 is also shown in Figures 23 and 26.)

[0170] Preferably, a first unwinding process then takes place. The roller positioning process preferably takes place before the first unwinding process. Preferably, in the first unwinding process, in which the stack 04 is only in contact with the gripping devices 06; 07 and the deflecting roller 109, a relative movement of the stack 04 and the deflecting roller 109 takes place with respect to each other. Preferably, the deflecting roller 109 rolls in a first rolling direction over a main surface of the uppermost arc 09 of the stack 04, while the stack 04 is held by the gripping devices 06; 07. This unwinding takes place from the perspective of the stack 04. Preferably, the deflecting roller 109 is held in its deflection position and the stack 04 is guided along it, the deflecting roller 109 preferably rotating passively, i.e., only by the movement of the stack 04.Preferably, in the first unwinding process, the distance between the deflecting roller 109 and a front of the two gripping devices 06; 07 is increased, and at the same time the distance between the deflecting roller 109 and a rear of the two gripping devices 07; 06 is decreased, in particular to substantially the same extent. "Substantially the same extent" is to be understood, for example, as in the case of 2025-12-08.

[0171] 37

[0172] Deviations of at most 20%, more preferably at most 10%, and even more preferably at most 5%, are present. The front gripping device 06; 07 refers in particular to the gripping device 06; 07 that moves away from the deflecting roller 109 during the first unwinding process. The rear gripping device 06; 07 refers in particular to the gripping device 06; 07 that moves towards the deflecting roller 109 during the first unwinding process. For example, at the beginning of the first unwinding process, the deflecting roller 109 is in contact with a region of the uppermost sheet 09 of the stack 04 that is located approximately equidistant from both gripping devices 06; 07.

[0173] Preferably, a second unwinding process then takes place. For example, immediately after the first unwinding process and / or at the beginning of the second unwinding process, the deflecting roller 109 is in contact with a region of the uppermost sheet 09 of the stack 04 that is significantly closer to the rear gripping device 06; 07 than to the front gripping device 06; 07. Preferably, in the second unwinding process, in which the stack 04 is in contact only with the gripping devices 06; 07 and the deflecting roller 109, a further relative movement of the stack 04 and the deflecting roller 109 takes place. Preferably, the deflecting roller 109 rolls across the main surface of the uppermost sheet 09 of the stack 04 in the opposite direction to the first rolling direction, while the stack 04 is held by the gripping devices 06; 07. This unwinding preferably takes place again from the perspective of the stack 04. Preferably, in the second rolling process, the distance between the deflecting roller 109 and that

[0174] The gripping device 06; 07, which served as the rear gripping device 06; 07 in the first unwinding process, is increased, and at the same time the distance between the deflecting roller 109 and the other gripping device 07; 06, which served as the front gripping device 06; 07 in the first unwinding process, is decreased, in particular to essentially the same extent (analogous to the first unwinding process). For example, at the end of the second unwinding process, the deflecting roller 109 is in contact with a region of the uppermost sheet 09 of the stack 04 that was significantly closer to the front gripping device 06; 07 in the first unwinding process than the region in the second unwinding process.

[0175] 38 first unwinding process rear gripping device 06; 07. (As an example, a stack 04 lifted by two gripping devices after the second unwinding process is also shown in Fig. 28.)

[0176] Preferably a third unwinding process then takes place, in particular analogous to the first unwinding process, wherein preferably at the end of the third unwinding process the deflecting roller 109 is in contact with a region of the uppermost sheet 09 of the stack 04 which is arranged at approximately the same distance from both gripping devices 06; 07, for example as before the first unwinding process.

[0177] Preferably, the deflecting roller 109 is in the deflection position during the first unwinding operation and / or during the second unwinding operation and / or during the third unwinding operation. During the first unwinding operation and / or during the second unwinding operation and / or during the third unwinding operation, the roller rotation axis 118 of the deflecting roller 109 is preferably supported by means of the support body 114, which remains stationary during the first and / or second and / or third unwinding operation, and is arranged to be deflected from its target position by forces transmitted from the stack 04 at most. Preferably, during the first and / or second and / or third unwinding operation, the first gripping device 06 and the second gripping device 07 are controlled and / or regulated by means of the respective arm 02; 03 of the at least one robot 01 in order to effect the movement of the stack 06; 07 relative to the deflecting roller 109.Preferably, arms 02 and 03 are actively moved during the first and / or second and / or third rolling process.

[0178] Preferably, during the first and / or the second and / or the third rolling process, the deflection roller 109 is moved only passively.

[0179] Preferably, the gripping devices 06; 07 (see above) are used during the entire first unwinding process and / or during the entire second unwinding process and / or during the entire third unwinding process. 2025-12-08

[0180] 39 is arranged as the roller rotation axis 118 of the deflecting roller 109. Preferably, during the entire first unwinding process and / or during the entire second unwinding process and / or during the entire third unwinding process, the deflecting roller 109 is in contact with a part of the stack 04 arranged below it. Preferably, during the entire first unwinding process and / or during the entire second unwinding process and / or during the entire third unwinding process, the deflecting roller 109 is located at a curved point of the stack 04 on the concave side of this curvature of the stack 04.

[0181] Preferably, a first stack line 126 intersects the first gripping device 06 and is preferably configured as a first tangent 126 to the deflecting roller 109, which contacts the deflecting roller 109 on the same side as the stack 04. Preferably, a second stack line 127 intersects the second gripping device 07 and is preferably configured as a second tangent 127 to the deflecting roller 109, which contacts the deflecting roller 109 on the same side as the stack 04.In particular, during the first unwinding process and / or during the second unwinding process and / or during the third unwinding process, the angle of intersection 128 including the deflecting roller 109 between the first stacking straight line 126 and the second stacking straight line 127 is preferably at least temporarily and more preferably permanently less than 120°, more preferably less than 90°, still more preferably less than 75°, still more preferably less than 60°, still more preferably less than 45° and still more preferably less than 35°.

[0182] Preferably, a placement process then takes place in which the stack 04 is placed in at least one placement area 108, for example, onto a support element 102, a storage surface, or the topmost arc 09 of a stack 04 already arranged there. For this purpose, the robot 01 is preferably first pivoted about its base pivot axis 13 and / or both arms 02; 03 are moved so that the gripping devices 06; 07 hold the stack 04 above the placement area 108 before placing it there. 2025-12-08

[0183] 40

[0184] Preferably, at least one robot 01 is arranged within a robot cell 106. This robot cell 106 is preferably secured against unplanned entry by operators. The security is preferably provided at least partially by means of at least one physical barrier 129, which is, for example, at least partially designed as a fence 129 and / or at least partially as a wall 129. The security is preferably provided at least partially by means of at least one access monitoring device, for example, by at least one light barrier or similar device. (A robot cell 106 is also shown by way of example in Fig. 1.)

[0185] Preferably, the removal area 107 and / or the delivery area 107 is arranged within the robot cell 106. Preferably, the first working area 112 and / or the second working area 113 is arranged completely within the robot cell 106 and / or is restricted by at least one barrier 129 of the robot cell 106. Preferably, the guide device 122 and / or the respective travel path of the at least one sheet clamp 123 and / or the holding device 121 and / or the at least one transport element 131 is arranged at least partially and more preferably completely within the robot cell 106.

[0186] 2025-12-08

[0187] 41

[0188] Reference symbol list

[0189] 01 Robot

[0190] 02 Arm, manipulator, first

[0191] 03 Arm, manipulator, second

[0192] 04 stacks

[0193] 05 -

[0194] 06 Gripping device, first

[0195] 07 Gripping device, second

[0196] 08 Stacking support element, support bracket

[0197] 09 Good, bow, arched

[0198] 10 -

[0199] 11 Base frame

[0200] 12 base

[0201] 13 Base pivot axis

[0202] 14 Arm pivot axis

[0203] 15 -

[0204] 16th member, base member

[0205] 17th member, end member

[0206] 18th member, intermediate member, first

[0207] 19th member, intermediate member, second

[0208] 20 -

[0209] 21st member, intermediate member, third

[0210] 22 Intermediate axle, first

[0211] 23 Joint, intermediate joint, first

[0212] 24 Intermediate axle, second

[0213] 25 -

[0214] 26 Joint, intermediate joint, second

[0215] 27 Intermediate axle, third 2025-12-08

[0216] 42

[0217] 28 Joint, intermediate joint, third

[0218] 29 Intermediate axis, fourth

[0219] 30

[0220] 31 Joint, intermediate joint, fourth

[0221] 32 Rotation axis, end axis

[0222] 33 End joint

[0223] 34 arm joint

[0224] 35

[0225] 36 Stacking handling device

[0226] 37 System

[0227] 38 Suction tool

[0228] 39 Collection area, first

[0229] 40

[0230] 41 Basic shapes (06; 07)

[0231] 42 Gripping element, first, lower

[0232] 43 Gripping element, second, upper

[0233] 44 Gripper swivel axis

[0234] 45

[0235] 46 Contact element, first, lower

[0236] 47 Contact element, second, upper

[0237] 48 gripper bodies, first

[0238] 49 gripper bodies, second

[0239] 50

[0240] 51 Distance, gripper gap, clamping gap

[0241] 52 Compensating axle, first

[0242] 53 Compensating axle, second

[0243] 54 spherical bearings

[0244] 55

[0245] 56 contact area, first 2025-12-08

[0246] 43

[0247] 57 Contact area, second

[0248] 58 Gas transport opening, discharge opening, suction opening

[0249] 59 axial bearings

[0250] 60

[0251] 61 Support element, first

[0252] 62 Centering pin

[0253] 63 Sliding surface

[0254] 64 Gripping drive

[0255] 65

[0256] 66 Threaded device

[0257] 67 Threaded spindle

[0258] 68 Spindle nut

[0259] 69 Safety device, retaining ring

[0260] 70

[0261] 71 Storage facility

[0262] 72 inner ring

[0263] 73 Support element, second

[0264] 74 Gas pipeline system

[0265] 75

[0266] 76 Overpressure source

[0267] 77 Vacuum source

[0268] 78 Ejection port, upper

[0269] 79 Ejection port, front

[0270] 80

[0271] 81 Supply line

[0272] 82 Gas pipeline

[0273] 83 Switching device

[0274] 84 Overpressure line

[0275] 85 2025-12-08

[0276] 44

[0277] 86 Vacuum line

[0278] 87 Tool bodies

[0279] 88 Pipeline system (38)

[0280] 89 Connection opening

[0281] 90

[0282] 91 Intake opening

[0283] 92 Intake opening

[0284] 93 Holding surface, first

[0285] 94 Holding surface, second

[0286] 95

[0287] 96 Border bodies, first

[0288] 97 Border body, second

[0289] 98 connection bodies

[0290] 99 Collection area, second

[0291] 100

[0292] 101 stacking package

[0293] 102 Support element, board

[0294] 103 withdrawal stacks

[0295] 104 Remaining Stacks

[0296] 105

[0297] 106 robot cells

[0298] 107 Extraction area

[0299] 108 storage area

[0300] 109 Deflection body, deflection roller

[0301] 110

[0302] 111 Roller suspension

[0303] 112 Work area, first

[0304] 113 Work area, second

[0305] 114 Supporting structures 2025-12-08

[0306] 45

[0307] 115

[0308] 116 Suspension connection

[0309] 117 Actuating device, swivel device

[0310] 118 Roller rotation axis

[0311] 119 Roller swivel axis

[0312] 120

[0313] 121 Holding device

[0314] 122 Guide system

[0315] 123 Bow hold-downs

[0316] 124 Drive, roller swivel drive

[0317] 125

[0318] 126 Tangent, stacking line, first

[0319] 127 Tangent, stacking line, second

[0320] 128 cutting angles

[0321] 129 Barrier, fence, wall

[0322] 130

[0323] 131 Transport element

[0324] 132 document

Claims

1. 2025-12-08 46 Claims 1. Stack handling device (36), wherein the stack handling device (36) comprises at least one robot (01) and wherein the at least one robot (01) comprises a first arm (02) with a first gripping device (06) and a second arm (03) with a second gripping device (07) which are arranged to be movable independently of one another and wherein the first arm (02) and the second arm (03) are arranged to be pivotable independently of one another about a respective arm pivot axis (14) and wherein the stack handling device (36) comprises a removal area (107) which is provided for the arrangement of at least one removal stack (103) and wherein a respective working area (112; 113) of the two arms (02; 03) is that respective spatial area (112; 113) which is provided by means of the gripping device (06; 07) arranged on the respective arm (02; 03).07) is reachable and wherein a first working area (112) of the first arm (02) overlaps at least partially with the removal area (107) and wherein a second working area (113) of the second arm (03) overlaps at least partially with the removal area (107) and wherein the stack handling device (36) has at least one rotatable deflection roller (109) provided for contact with a stack (04) of arc-shaped goods (09), which is arranged and / or can be arranged at least temporarily in a deflection position and wherein the deflection roller (109) in its deflection position is arranged at least partially in the first working area (112) of the first arm (02) and in the second working area (113) of the second arm (03).

2. Stack handling device (36) according to claim 1, characterized in that the at least one deflection roller (109) is rotatably mounted in a roller suspension (111) and that the roller suspension (111) is arranged to be held by a support body (114) by means of at least one flexible suspension connection (116) and that the at least one flexible suspension connection (116) 2025-12-08 47 Displacements and / or pivoting movements of a roller rotation axis (118) which enables at least one deflection roller (109).

3. Stack handling device (36) according to claim 1 or 2, characterized in that the at least one deflection roller (109) is arranged to be movable between the deflection position and a storage position by means of an adjusting device (117) and / or that the at least one deflection roller (109) is arranged to be pivotable between the deflection position and a storage position about a roller pivot axis (119) by means of an adjusting device (117) designed as a pivoting device (117).

4. Stack handling device (36) according to claim 1 or 2 or 3, characterized in that a roller rotation axis (118) of the deflecting roller (109) deviates from a horizontal direction by a maximum of 30° when the deflecting roller (109) is arranged in the deflecting position or is oriented parallel to a horizontal direction.

5. Stack handling device (36) according to claim 1 or 2 or 3 or 4, characterized in that the at least one deflection roller (109) is arranged connected to a guide device (122) via a holding device (121) and that the holding device (121) can be arranged in different positions along the guide device (122) relative to the removal area (107).

6. Stack handling device (36) according to claim 1 or 2 or 3 or 4 or 5, characterized in that the stack handling device (36) has at least one storage area (108) which is provided for storing at least one stack (04) of arc-shaped goods (09) and that the first working area (112) of the first arm (02) overlaps at least partially with the storage area (108) and that the second working area (113) of the second arm (03) 2025-12-08 48 overlaps at least partially with the storage area (108).

7. Stack handling device (36) according to claim 1 or 2 or 3 or 4 or 5 or 6, characterized in that the deflecting roller (109) is designed as a deflecting roller (109) rotatable about a roller rotation axis (118) and / or that the deflecting roller (109) is designed as a deflecting roller (109) rotatable by more than one full revolution about a roller rotation axis (118).

8. Stack handling device (36) according to claim 1 or 2 or 3 or 4 or 5 or 6 or 7, characterized in that the respective arm (02; 03) has at least four degrees of freedom with respect to movements of the respective gripping device (06; 07).

9. Stack handling device (36) according to claim 1 or 2 or 3 or 4 or 5 or 6 or 7 or 8, characterized in that the respective gripping device (06; 07) each has a first gripping element (42) with a first contact element (46) and a second gripping element (43) with a second contact element (47) and that the first contact element (46) is arranged to be rotatable about a first compensating axis (52) relative to a first gripper body (48) of the first gripping element (42) and that the second contact element (47) is arranged to be rotatable about a second compensating axis (53) relative to a second gripper body (49) of the second gripping element (43).

10. Stack handling device (36) according to claim 9, characterized in that the second gripping element (43) is arranged pivotably relative to the first gripping element (42) about a gripper pivot axis (44) in order to change an opening state of the respective gripping device (06; 07).

11. Stack handling device (36) according to claim 9 or 10, wherein 2025-12-08 49 characterized in that the second contact element (47) is arranged to be connected to the second gripper body (49) at least also via a spherical bearing (54).

12. Stack handling device (36) according to claim 9 or 10 or 11, characterized in that an outer surface of the second contact element (47) has at least partially the shape of a spherical cap.

13. Stack handling device (36) according to claim 9 or 10 or 11 or 12, characterized in that the second contact element (47) has a gas transport opening (58) which is arranged to be connected via a gas piping system (74) of the robot (01).

14. Stack handling device (36) according to claim 13, characterized in that the gas transport opening (58) of the second gripping element (43) is arranged to be connected to a switching device (83) via a gas transport line (82) and that, depending on the state of the switching device (83), the gas transport opening (58) acts as an ejection opening (58) or as a suction opening (58).

15. Stack handling device (36) according to claim 9 or 10 or 11 or 12 or 13 or 14, characterized in that the first contact element (46) has a circular cross-section orthogonal to the first compensating axis (52).

16. Stack handling device (36) according to claim 9 or 10 or 11 or 12 or 13 or 14 or 15, characterized in that the first contact element (46) is arranged supported against the first gripper body (48) via an axial bearing (59). 2025-12-08 50 17. Stack handling device (36) according to claim 1 or 2 or 3 or 4 or 5 or 6 or ? or 8 or 9 or 10 or 11 or 12 or 13 or 14 or 15 or 16, characterized in that the deflecting roller (109) serves to deform a respective stack (04) in conjunction with the gripping devices (06; 07) movable by the arms (02; 03).

18. Stack handling device (36) according to claim 1 or 2 or 3 or 4 or 5 or 6 or ? or 8 or 9 or 10 or 11 or 12 or 13 or 14 or 15 or 16 or 17, characterized in that the deflecting roller (109) serves, in conjunction with the gripping devices (06; 07) movable by the arms (02; 03), to deform a respective stack (04) in such a way that sheets (09) adhering to each other separate from each other without releasing or dissolving the stack (04) itself.

19. Method for handling a stack (04) of arc-shaped goods (09), wherein in a first gripping operation a first gripping device (06) arranged on a first arm (02) of at least one robot (01) grips a stack (04) still configured as a removal stack (103) or as the upper region of a removal stack (103) of arc-shaped goods (09) at a first point, and wherein in a second gripping operation a second gripping device (07) arranged on a second arm (03) of the at least one robot (01) grips the stack (04) still configured as a removal stack (103) or as the upper region of the removal stack (103) at a second point, and wherein in a contacting operation a contact is established at a first contact point between an uppermost arc (09) of the stack (04) and a deflection roller (109), and wherein in a first unwinding operation, in which the stack (04) is only handled by the gripping devices (06;07) and the deflecting roller (109) is in contact, a relative movement of the stack (04) and the deflecting roller (109) takes place towards each other and the deflecting roller (109) is rolled in a first rolling direction over a main surface; 2025-12-08 51 of the uppermost sheet (09) of the stack (04) unwinds while the stack (04) is held by the gripping devices (06; 07), and wherein in the first unwinding process a distance between the deflecting roller (109) and a front of the two gripping devices (06; 07) is increased and at the same time a distance between the deflecting roller (109) and a rear of the two gripping devices (07; 06) is decreased.

20. Method according to claim 19, characterized in that during the first unwinding process the gripping devices (06; 07) are arranged further up than the roller rotation axis (118) of the deflecting roller (109) and that during the first unwinding process the deflecting roller (109) is in contact with a part of the stack (04) arranged below it.

21. Method according to claim 19 or 20, characterized in that a first stacking straight line (126) intersects the first gripping device (06) and is formed as a first tangent (126) to the deflecting roller (109), which touches the deflecting roller (109) on the same side as the stack (04), and that a second stacking straight line (127) intersects the second gripping device (07) and is formed as a second tangent (127) to the deflecting roller (109), which touches the deflecting roller (109) on the same side as the stack (04), and that during the first unwinding process, an angle of intersection (128) enclosing the deflecting roller (109) between the first stacking straight line (126) and the second stacking straight line (127) is at least temporarily less than 120°.

22. Method according to claim 19 or 20 or 21, characterized in that during the first unwinding process, a roller rotation axis (118) of the deflecting roller (109) is mounted by means of a support body (114) which is stationary during the first unwinding process and is arranged to be deflected from its intended position by forces transmitted from the stack (04) at most, and / or that during the 2025-12-08 52 first unwinding process the first gripping device (06) and the second gripping device (07) are controlled and / or regulated by means of the respective arm (02; 03) of the at least one robot (01) to effect the movement of the stack (06; 07) relative to the deflecting roller (109).

23. Method according to claim 19 or 20 or 21 or 22, characterized in that in a roller positioning process the deflecting roller (109) is moved from a parking position to a deflecting position by means of an adjusting device (117) and that the deflecting roller (109) is in the deflecting position during the first rolling process.

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