DE102015200727A1 - Device and method for positioning individual layers of an interlayer stack on associated pallets - Google Patents

Abstract

A device (1) and a method for positioning individual intermediate layers (15) of an intermediate layer stack (2) on associated pallets (9) are disclosed. The device (1) comprises at least one transfer unit (4) which comprises one or more contact means (11) for releasably gripping an intermediate layer (15) respectively arranged at the top of the stack (2) from the stack (2) in the direction of the transfer station (5). for the respective intermediate layer (15) is movable. Further, at least one handling device (30), which is designed to receive at least one intermediate layer (15) from the transfer station (5) and to continue and define the positioning of the at least one intermediate layer (15) on the respective pallet (9). The handling device (30) has for the purpose of continuing a freedom of movement with oblique orientation in the direction of a bottom surface. The transfer station (5) is designed to assume at least two stable position positions, wherein the transfer station (5) has a substantially horizontal orientation in a first of the at least two stable position positions and in a second (LP2) of the at least two stable position positions relative to the horizontal inclines.

Description

The present invention relates to an apparatus and a method for positioning individual layers of an interlayer stack on associated pallets.

Automated palletizing devices are already known from the state of the art, which arrange a plurality of articles on a pallet and, if appropriate, finally wrap the articles of the respective pallet by means of shrink film.

In such pallets preferably several layers of articles on the respective pallet are arranged one above the other to be able to place a large number of articles on the respective pallet can. The articles may be formed for example by containers with several beverage containers. Such articles often have a complex geometry, so stacking with multiple layers is not always possible without resulting problems in the stability of the entire pallet assembly. In particular, during the transport of the pallet, it is necessary to be able to ensure a certain stability for the pallet assembly in order to rule out any tilting of the respective articles, in particular during their transport with certainty.

In order to increase the stability of the pallet assembly or to be able to ensure sufficient stability for the pallet assembly, it is known from the prior art, so-called for intermediate articles to provide intermediate layers. Such intermediate layers may extend at least approximately over the entire pallet width, so that all articles stand up on such an intermediate layer. Known intermediate layers are formed for example from paper, cardboard, cardboard, corrugated cardboard or similar materials.

For automated processes of palletizing, it is necessary that liners are available quickly and in large numbers. Therefore, interlayer stacks comprising a plurality of such interlayers are known.

Before the respective intermediate layers are placed on the pallet, it is necessary to separate individual intermediate layers from the stack. For this purpose, a plurality of devices are known from the prior art, by means of which such a separation of individual intermediate layers is carried out by a stack. If the intermediate layers are separated from the stack, they are frequently positioned on a transfer station, where they are received by another device and arranged as an intermediate layer on the respective pallet.

In order to perform the palletizing with intermediate layers with a high throughput, devices and methods are desirable, by means of which a positioning of intermediate layers on the respective pallets can be made time-optimized.

The object of the invention is therefore to provide an apparatus and a method for positioning individual layers of an intermediate layer stack on associated pallets, which allow the positioning of the individual layers time-optimized.

The above objects are achieved by an apparatus and a method comprising the features in claims 1 and 11. Further advantageous embodiments are described by the subclaims.

The invention relates to a device for positioning individual layers of an intermediate layer stack on associated pallets. The intermediate layers can be formed, for example, from paper, cardboard, cardboard, corrugated cardboard or similar materials. It is conceivable here that the broad side surfaces of the intermediate layers are formed in terms of their geometry as a rectangle. Practice has shown that in addition plastic sheet material and other sheet material can be easily separated from the stack with the device according to the invention, so that the use of the device is not limited to cellulose-containing materials.

For example, the device may have a feed station, in the region of which the respective intermediate layer stacks are arranged. Since the interleaf stacks are preferably on pallets, the palette may possibly be removed from the supply space after removal of all intermediate layers from the stack and replaced by a full range with a plurality of intermediate layers. In particular, it may be that in the area of Zuführplatzes a position for the stack of stacks or for the pallet with the individual layers is at least approximately predetermined.

According to the present invention, the device comprises at least one transfer unit which comprises one or more contact means for releasably gripping a respective intermediate layer arranged on top of the stack. In addition, the transfer unit can be moved or moved from the stack in the direction of a transfer station for the respective intermediate layer.

The transfer unit can be in communication with a control device which specifies the movement of the transfer unit. It is conceivable that the transfer unit at their Method is moved in the direction of the transfer point substantially horizontally.

 It may also be that the transfer unit is guided back and forth via a linear guide which extends from the stack over or in the direction of the transfer station or that the transfer unit is connected to a linear guide. In particularly preferred embodiments, an actuator can be provided which moves the transfer unit back and forth along the linear guide. The actuator may also be in communication with the controller and actuated via the controller.

In various embodiments, it may also be provided that the device comprises a plurality of such transfer units. If a plurality of such transfer units are provided, the transfer units can optionally be guided synchronously and be designed in each case for the provision of intermediate layers. In this case, each of the transfer units can be assigned a feed station or a stack of interleaves, from which the respective transfer unit removes intermediate layers and positions them on one or more assigned transfer stations.

It may also be that the device comprises a further linear guide, with which the transfer unit is in communication and whose guide direction is oriented perpendicular to the guide direction of the extending from the stack in the direction of the transfer station linear guide.

Advantageously, therefore, provided on the transfer point position for the intermediate layer must not be aligned with the position of the uppermost arranged on the stack intermediate layer, as via a plurality of linear guides oblique guidance of the transfer unit in their movement towards the transfer point can be made possible. The transfer unit can be moved back and forth along the guide direction of the further linear guide via an actuator, for example designed as a pneumatic cylinder.

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

The device additionally comprises at least one handling device, which is designed to receive at least one intermediate layer from the transfer station as well as to continue and define the positioning of the at least one intermediate layer on the respective pallet. By way of example, the handling device can have one or more suction heads, by means of which it receives the one or more intermediate layers positioned on the transfer station and fixes them in a supporting manner until they are positioned on the respective associated pallet. If the at least one intermediate layer has been placed on the pallet via the handling device, then the load-bearing connection between the handling device or between the one or more contact means and the respective intermediate layer can be canceled. Subsequently, the handling device can be moved back in the direction of the transfer point, from which it again receives another intermediate layer or the uppermost arranged on the stack intermediate layer.

The handling device thus has a detection region for gripping the respective intermediate layer, which detection region extends at least in sections into the region of the transfer station.

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

According to the invention, the at least one handling device for the purpose of continuing the respective intermediate layer from the transfer point in the direction of the respective associated pallet has a freedom of movement with oblique orientation in the direction of a bottom surface.

The vertical level of the at least one handling device can thus gradually decrease from the transfer point in the direction of the pallet already at the beginning of the continuation of the respective intermediate layer. It is also conceivable here that the vertical level of the at least one handling device continuously decreases over the course of time from the incipient continuation of the respective intermediate layer to the positioning of the intermediate layer on the respective associated pallet. The handling device can also be in connection with the previously described control device, which control device predetermines an oblique movement of the handling device in the direction of the bottom surface after respective receipt of one or more intermediate layers from the transfer point.

Furthermore, it is provided in the device according to the invention that the transfer station is designed to take at least two stable position positions, wherein the transfer point in a first of the at least two stable position positions in the Has substantially horizontal orientation and in a second of the at least two stable position positions is inclined with respect to the horizontal and, if appropriate, points in the direction of a bottom surface.

Due to the inclination of the transfer point in the second stable position position and the possible oblique guidance of the handling device in the direction of a bottom surface of the way the handling device for advancing the intermediate layer must travel to positioning on the respective pallet, against a freedom of movement of the handling device in vertical and horizontal Direction shortened. Due to the shortened path, a time-optimized placement of intermediate layers on pallets is thus allowed by means of the device. Palletizing is advantageously possible with increased throughput. The handling device can be performed in preferred embodiments on a direct or shortest path in the direction of the respective pallet.

In particularly preferred embodiments of the present invention may further be provided that the handling device is designed to be movable in the vertical direction in addition to their freedom of movement with oblique orientation in the direction of a bottom surface. In order to be able to transfer a further intermediate layer to the transfer point when positioning the respective intermediate layer on its associated pallet by means of the handling device, it may be that the transfer point before returning the handling device from the pallet in the direction of the transfer point already back to its first position, in which the transfer point is substantially horizontally oriented, has taken.

A return of the handling device in the direction of the transfer point along a direction of movement, which has an oblique orientation to the bottom surface, may possibly be hindered due to the horizontal orientation of the transfer station. However, a horizontal orientation of the transfer station can be desired as soon as possible after removal of the respective intermediate layer for the purpose of transferring a further intermediate layer to the transfer point. In order to be able to recirculate the handling device here in the direction of the transfer station, the handling device therefore in preferred embodiments has a freedom of movement in the vertical or vertical direction or is vertically or vertically raised and lowered. If the respective intermediate layer has been placed on the respective associated pallet, the handling device can be guided directly upward thereupon, if necessary, in the vertical direction upwards. If the handling device then has assumed a predetermined vertical level, it is conceivable that the handling device is then returned horizontally in the direction of the transfer station.

In particular, it is conceivable that the transfer station is connected to an actuator, which transfers the transfer station from the first stable position to the second stable position and from the second stable position to the first stable position. The actuator can be in communication with the control device, so that the respective position in which the transfer point is to be transferred is specified by the control device. A transfer from the first position to the second position can be specified at least approximately immediately after receipt of the respective intermediate layer from the transfer point by means of the control device. A transfer from the second position to the first position position can be specified at the latest by positioning the respective intermediate layer on the pallet by means of the control device.

It may also be that the transfer point one or more movable centering elements for the defined orientation of one or more on the transfer station respectively arranged intermediate layers are assigned. By means of a feed movement of the one or more centering can then be carried out aligning the one or more intermediate layers on the transfer point. In particular, it may be that the centering elements remain in their position after their feed movement until the one or more intermediate layers arranged on the transfer station have been received by the at least one handling device. In this way it can be ensured that the one or more intermediate layers remain in their position and do not undergo any deorientation until they are accepted via the at least one handling device.

 In particular, embodiments have proven in which a plurality of centering elements are present, which are moved towards each other for the purpose of alignment of the respective intermediate layer and in their movement with the respective intermediate layer in contact. The wide side surfaces of at least two centering elements which point in the direction of the respective intermediate layer can in this case have a perpendicular orientation to one another. When aligning the respective intermediate layer on the centering the respective intermediate layer is no longer held on the one or more contact means of the transfer unit.

Also, one or more of the centering elements may each be in communication with an actuator, which, for example, as at least one pneumatic and / or hydraulic cylinder is formed and causes the delivery of the or the respective centering.

If the respective intermediate layer has been positioned on the transfer station, then the intermediate layer can have an at least approximately parallel orientation in the first stable position position of the transfer station relative to the respective intermediate layers still remaining on the stack.

In preferred embodiments, the one or more centering elements associated with the transfer station are also in operative connection with a control device. Thus, the centering elements can be delivered via the control device. It is conceivable here that an advancing movement of the one or more centering elements takes place at least approximately immediately after the connection between the contact means and the respective intermediate layer has been removed, or at least approximately takes place immediately after the positioning of the one or more intermediate layers on the transfer station.

It is also conceivable that the one or more contact means of the transfer unit are formed by at least one suction device for the purpose of fixing the respective uppermost arranged on the stack intermediate layer via negative pressure. The at least one suction device can in each case have one or more suction heads, the cross-section of which in each case increases in area in the direction away from the transfer unit. In practice, it has been found that by means of a design of the one or more contact means by at least one suction device in a simple and straightforward way, a secure detection of the respective uppermost arranged on the stack intermediate layer can be done.

Further, it may be that the device comprises at least one vertically raisable and lowerable feed device, in particular at least one rotating roller, which is brought pressurized with the respective uppermost on the stack arranged intermediate layer in surface contact. Also, a stop may be provided, against which the respective uppermost arranged on the stack intermediate layer is guided horizontally by means of the feed device or by means of the rotating roller.

In particularly preferred embodiments, the feed device is connected to a frame or a suspension in connection and can be raised and lowered by lifting and lowering the frame or the suspension together with the frame or the suspension. It is also conceivable here that the transfer station and / or the one or more centering elements are connected to the frame or to the suspension, so that from a raising and lowering of the frame or the suspension of the transfer station and / or the one or more Centering be performed together with the frame or with the suspension. Also, a guide edge described in more detail below, which may possibly be designed as a stop for intermediate layers, is firmly connected in various embodiments with the frame or fixed to the suspension.

In particular, it may be provided that the respective intermediate layer arranged on top of the stack is guided against the stop via the at least one feed device prior to contact with the transfer unit. Accordingly, an alignment of the respective uppermost arranged on the stack intermediate layer by their horizontal movement via the at least one feed device or the at least one roller and guide against the stop.

The at least one feed device may be formed in further embodiments by one or more brushes or the like, which move the respective uppermost arranged on the stack intermediate layer substantially horizontally.

The at least one feed device can be operated clocked, wherein after complete separation of the At the top of the stack arranged intermediate layer from the stack a further intermediate layer is moved substantially horizontally and is guided for the purpose of their alignment against the stop. For this purpose, the at least one feed device can be connected to a control device, which tunes its timed operation with the movement of the transfer unit. In particular, it may be that the feed device guides the respective upper layer arranged on the stack during placement against the stop or that the rolls during rotation of the transfer unit to the respective uppermost arranged on the stack intermediate layer is moved. The horizontal guiding or the rotating movement can in this case be specified via the control device.

Since the vertical level of the intermediate layer stack decreases successively from a decrease of respective upper layers arranged on the stack, embodiments in which the at least one feed device can be raised and lowered vertically have proven successful. The at least one feed device can also be connected to a control device in order to reduce the vertical level of the feed device after removal of one or more intermediate layers from the stack of liners and to maintain a pressurized contact of the at least one feed device on the respective intermediate layer arranged on top of the stack.

In further preferred embodiments, it is also conceivable that the device comprises at least one leading edge which inclines over the interlayer stack. The abutment already described above, against which the intermediate layer arranged on top of the stack is optionally moved via the feed device, may be formed as part of the leading edge. In particular, the leading edge may be designed to be horizontally movable or horizontally displaceable and to be brought into surface contact with the stack or with intermediate layers of the stack by means of horizontal movement before the interlayer separation begins.

The leading edge can simplify the separation of the respective upper layer arranged on the stack intermediate layer from the stack and also act to assist in the management of the respective situation in the direction of the transfer point. In particular, the leading edge can form a slope in the region of its free end and in this case extend over the stack or over the respective intermediate layer arranged on top of the stack. The leading edge or a region of the leading edge inclined in the direction of the stack can form an obtuse angle together with a vertical.

If the respective upper layer arranged on the stack is lifted by the transfer unit in the direction away from the stack, and the leading edge extends obliquely over the upper layer arranged on the stack, the respective intermediate layer comes into contact with the leading edge during lifting and is transferred over the leading edge is steered. In this case, the respective intermediate layer can be deformed convexly, at least in some areas, as a result of which, if necessary, further intermediate layers adhering to the intermediate layer are loosened. Thus, the respective intermediate layer is bent, at least in a region which comes into contact with the leading edge, so that any additional intermediate layers of the stack which may be adhering to the intermediate layer are released from the intermediate layer.

Embodiments in which the device comprises an already described leading edge have been found to be particularly effective in reducing the risk of tacking several intermediate layers together upon receipt by the transfer unit.

It can also be provided that the leading edge is formed as part of a previously described stop, to which the intermediate layer stack and / or an uppermost arranged on the intermediate layer stack intermediate layer is present.

As already mentioned above, the interleaving stack or the individual layers of the interlayer stack can already be aligned with the abutment prior to contact with the transfer unit and possibly with the aid of a feed device. The transfer unit can thus define the respective top layer arranged on the stack intermediate layer and record with a predetermined orientation.

For example, the leading edge or the stop can provide a planar contact for the stack of interleaves, on which flat contact the interleaving stack and / or the topmost arranged on the stack interlayer is present.

If the respective intermediate layer arranged on top of the stack comes into surface contact with the guide edge formed as a stop, then the leading edge or the inclined region of the leading edge can possibly extend over the respective intermediate layer. With vertical lifting of the intermediate layer via the transfer unit, the respective intermediate layer is in surface contact with the inclined part of the leading edge and is thereby guided via the leading edge.

In particularly preferred embodiments, the device may comprise at least one movable gripping device which is designed for the purpose of receiving the respective intermediate layer from the transfer unit and continuing as well as positioning the intermediate layer on the transfer station. Embodiments with at least one gripping device have proven particularly useful in order to be able to carry out the separation of individual intermediate layers from the stack and the subsequent placement on a pallet with a high throughput.

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

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

The device can also have at least one sensor via which a relative position of the respective intermediate layer to the transfer unit can be detected and / or detected after gripping via the respective at least one transfer unit. Furthermore, the device can have a control device coupled to the at least one transfer unit and the at least one sensor system, by means of which a direction can be predetermined when the transfer unit moves as a function of the relative position determined and / or detected by the at least one sensor. The sensor system can be designed, for example, as a light barrier and optionally fixed to the at least one transfer unit or coupled to the at least one transfer unit. Such embodiments have proven to be able to position the respective liner as accurately as possible and in the desired position on the transfer point.

The present invention further relates to a method for positioning individual layers of an interlayer stack on associated pallets. It should be noted that features which have been previously described for various embodiments of a device according to the invention may also be provided for various embodiments of the method according to the invention. Furthermore, features which are described below for various embodiments of the method according to the invention may be provided in conceivable embodiments of a device according to the invention.

As part of the method, a transfer unit, which comprises one or more contact means for releasably gripping a respective intermediate layer arranged on top of the stack, is placed on the stack of interleaf stacks. For example, it may be the case that the transfer unit is lowered vertically for this purpose and placed on the respective intermediate layer arranged on top of the stack.

It is conceivable here that the transfer unit is initially guided parallel to the intermediate layers of the stack and in the direction of the stack until the transfer unit is above or above the stack. Subsequently, the transfer unit can be lowered vertically, wherein the one or more contact means are placed on the respective uppermost arranged on the stack intermediate layer. It is also conceivable that the transfer unit by means of a pivoting movement of the one or more contact means touches the respective uppermost arranged on the stack intermediate layer. In this case, the one or more contact means can come into contact with the respective upper layer arranged on the stack intermediate layer.

If the transfer unit or the one or more contact means of the transfer unit is placed on the intermediate layer arranged on top of the stack, then a detachable connection between the one or more contact means and the respective intermediate layer arranged on top of the stack can subsequently be produced.

In this case, in particular embodiments have proven in which the intermediate layer is held by the one or more contact means with negative pressure. Thus, the respective intermediate layer can be held over the one or more contact means at a plurality of defined locations via negative pressure. Each of the one or more contact means may be associated with such a location. It is clear to the person skilled in the art that further connection possibilities for holding the respective intermediate layer via the one or more contact means are conceivable, but which are not explicitly mentioned explicitly in the present case.

Subsequently, in the method according to the invention, the respective intermediate layer is moved in the direction of a transfer station with the aid of the at least one transfer unit and deposited or positioned on the transfer station. For example, it can be provided that the respective intermediate layer is moved directly to the transfer station via the respective at least one transfer unit and is stored or positioned on the transfer station. In preferred embodiments, however, it is provided that a gripping device, which will be described below, receives the respective intermediate layer from the at least one transfer unit, transports it further in the direction of the transfer station and places or positions it on the transfer station.

It is conceivable that the transfer unit, after gripping the respective intermediate layer arranged on top of the stack, raises the respective intermediate layer arranged on top of the stack and then remains immobile in its position over a certain dwell time. If due a very large electrostatic adhesion several intermediate layers adhere to each other and are raised at the same time, the electrostatic adhesion can be overcome by means of the defined residence time and the individual layers are separated from each other.

Such a residence time has been proven in practice, in particular in processes in which the intermediate layers have a low mass, since in this case the ratio of electrostatic adhesion to the mass of individual intermediate layers is large and after lifting the uppermost on the stack arranged intermediate layer and on the described Dwell time if necessary, several more intermediate layers of this fall off.

When moving the intermediate layer in the direction of the transfer point, it may be that the transfer unit is guided horizontally. A corresponding linear guide can, as previously mentioned, be provided for this purpose.

Furthermore, it can be provided that the respective position is moved away in a sliding manner by means of the transfer unit via a guide edge which is arranged between the stack and the transfer station and points in the direction of the stack. In this case, the respective intermediate layer arranged on top of the stack can initially be guided essentially horizontally against the leading edge, so that the respective intermediate layer arranged on top of the stack is present at the leading edge.

Since the leading edge can be designed to be inclined at least in regions in the direction of the stack or in the direction of a feed position, the leading edge optionally extends over the intermediate layer upon contact with the intermediate layer arranged on top of the respective stack. If the intermediate layer is then raised vertically via the transfer unit, the leading edge serves to guide the respective intermediate layer. When moving the transfer unit in the direction of the transfer point, the leading edge, since its vertical extent relative to the stack is formed enlarged support the liner. The risk of unintentional release of the intermediate layer of the one or more contact means is thereby reduced.

From the transfer point or after positioning of the respective intermediate layer on the transfer point one or more intermediate layers are accepted by the transfer station by a handling device, continued via the handling device in the direction of the respective associated pallet and placed on the pallet. It may be the case that the handling device at the same time receives a plurality of intermediate layers from the transfer point and continues in the direction of the respective pallet. With regard to its dimensioning, the transfer station can be designed in various embodiments for receiving a plurality of intermediate layers.

It is also conceivable that a plurality of handling devices are present, which in each case receive controlled intermediate layers from the transfer point and place on associated pallets. Also, the handling device or the possibly more handling devices may optionally have one or more suction devices to releasably fix the respective intermediate layers for the purpose of their receipt and continuation in the direction of the pallet. If a plurality of handling devices are present, in particular embodiments have proven in which all of the multiple handling devices at the same time each receive at least one intermediate layer from the transfer point.

In the method according to the invention, it is provided that the handling device is moved obliquely downwards for advancing the respective one or more intermediate layers and the transfer station is lowered in the direction of a bottom surface.

By lowering the transfer station in the direction of the bottom surface, the handling device can be moved directly in the direction of the pallet. A shortening of the path when guiding the respective intermediate layer and a time-optimized placement of the respective intermediate layer on its associated pallet are made possible here.

To move the handling device in an oblique downward direction, one or more actuators, in particular one or more pneumatic and / or hydraulic actuators, may be provided. The lowering of the transfer station can be automated. The one or more actuators may in this case be connected to a control device which, taking into account the respective positioning of intermediate layers on the transfer station via the transfer unit, effects a lowering of the transfer station.

If one or more intermediate layers were received by the handling device from the transfer point, it can be done at a certain position of the handling device raising the transfer point until he has taken his original position prior to lowering again. The lifting may possibly also be effected via the one or more actuators or via the one or more pneumatic and / or hydraulic actuators. The transfer station is thus movable by lowering and raising between at least two stable position positions back and forth.

In particular, it may be that the transfer point is lowered by means of a pivoting movement about a substantially horizontally oriented axis. The horizontally oriented axis can be arranged in an edge or end region of the transfer station. It is conceivable that the horizontally oriented axis is designed as a physical axis and is optionally coupled via one or more articulated joints to the transfer point. The horizontally oriented axle may also communicate with the previously described frame and be guided together with the frame when the frame is raised and lowered.

Furthermore, it can be provided for preferred embodiments that the transfer station is pivoted at an angle which is set between 0 ° and 90 ° and in particular between 30 ° and 60 °. In practice it has been found that an angle which is set between 0 ° and 90 ° and in particular between 30 ° and 60 °, sufficient to be able to lead the handling device as short as possible or direct way in the direction of the respective pallet.

It may also be the case that the lowering of the transfer station in the direction of the floor surface occurs temporally after receipt of the respective intermediate layer via the handling device. The intermediate layer can be aligned horizontally before swiveling the transfer station on the transfer station. With a horizontal orientation of the intermediate layer a simple and accurate receipt via the handling device is possible. During a movement of the respective intermediate layer in the direction of the pallet, the intermediate layer can maintain its horizontal orientation, while the transfer point assumes a position inclined relative to the horizontal. Before the handling device is moved back from the respective pallet and in the direction of the transfer station, the transfer station can be raised and in turn aligned horizontally, wherein after horizontal alignment via the transfer unit, a further intermediate layer is positioned on the transfer station.

Further, the handling device after placing the respective intermediate layer on the pallet vertically or vertically and be raised above the level of the transfer point. It may be that the transfer station is aligned horizontally before returning the handling device or lifting the handling device on the level of the transfer point. The lifting of the handling device and the horizontal orientation of the transfer station can be effected by means of the control device.

A lifting of the transfer station before returning the handling device may be desired in order to place as soon as possible further intermediate layers via the transfer unit on the transfer point. In order to be able to reduce the handling device despite raising the transfer point for the purpose of receiving further intermediate layers, therefore, embodiments have proven in which the transfer point is transferred before returning the handling device in its horizontal position or position and the handling device after placement of the respective intermediate position the pallet is raised vertically or vertically.

It may also be that the transfer station is in communication with one or more centering elements, the time after positioning the respective intermediate layer on the transfer unit and with canceled connection of the one or more contact means to the respective intermediate position alignment of the respective intermediate layer on the transfer point by means of a feed movement cause. Once the feed movement has taken place, the centering elements can remain in their position during the lowering of the transfer station. A return movement can take place at the latest after positioning of further intermediate layers on the transfer point.

It is conceivable, moreover, that the respective intermediate layer is received by the at least one transfer unit via one or more gripping devices, via which one or more gripping devices is further transported and deposited on the transfer station. The one or more gripping devices can fix the respective intermediate layer, as already mentioned above, for example by gripping fingers in a clamping manner.

Furthermore, after gripping the respective intermediate layer via the at least one transfer unit, a relative position of the respective intermediate layer to the at least one transfer unit can be detected and / or detected by means of at least one sensor system and the direction of movement of the transfer unit can be determined by means of sensor technology and / or detected relative position is controlled.

In the following, embodiments of the invention and their advantages with reference to the accompanying figures will be explained in more detail. The proportions of the individual elements to one another in the figures do not always correspond to the actual size ratios, since some shapes are simplified and other shapes are shown enlarged in relation to other elements for better illustration.

1 shows a schematic view of an embodiment of a device according to the invention and a first step, as in a Embodiment of a method according to the invention may be present;

2 shows a schematic view of the device 1 off at the first step 1 ;

3 shows a schematic view of the apparatus of the preceding figures in a further step, as it may be in an embodiment of a method according to the invention;

4 shows a schematic plan view of the device 3 at further step off 3 ;

5 shows a schematic view of the apparatus of the preceding figures in a further step, as it may be in an embodiment of a method according to the invention;

6 shows a schematic plan view of the device 5 in another step 5 ;

7 shows a schematic view of the apparatus of the preceding figures in a further step, as it may be in an embodiment of a method according to the invention;

8th shows a schematic plan view of the device 7 at further step off 7 ;

9 shows a schematic view of the apparatus of the preceding figures in a further step, as it may be in an embodiment of a method according to the invention;

10 shows a schematic plan view of the device 9 at further step off 9 ;

11 shows a schematic view of the apparatus of the preceding figures in a further step, as it may be in an embodiment of a method according to the invention;

12 shows a schematic plan view of the device 11 at further step off 11 ;

13 shows a schematic view of the apparatus of the preceding figures in a further step, as it may be in an embodiment of a method according to the invention;

14 shows a schematic plan view of the device 13 at further step off 13 ;

15 shows a schematic view of the apparatus of the preceding figures in a further step, as it may be in an embodiment of a method according to the invention;

16 shows a schematic view of the apparatus of the preceding figures in a further step, as it may be in an embodiment of a method according to the invention;

17 show schematic views of a further embodiment of a device according to the invention;

18 show the device 17 in a further process step;

19 show the device from the 17 and 18 in a further process step;

20 show the device from the 17 to 19 in a further process step;

21 show the device from the 17 to 20 in a further process step;

22 show the device from the 17 to 21 in a further process step;

23 show the device from the 17 to 22 in a further process step;

24 show the device from the 17 to 23 in a further process step;

25 show the device from the 17 to 23 in a further process step;

26 show the device from the 17 to 25 in a further process step;

27 show the device from the 17 to 26 in a further process step;

28 show the device from the 17 to 27 in a further process step;

For identical or equivalent elements of the invention, identical reference numerals are used. Furthermore, for the sake of clarity, only reference symbols are shown in the individual figures, which are required for the description of the respective figure. The illustrated embodiments are merely examples of how the device or method of the invention may be configured and are not an exhaustive limitation.

1 shows a schematic view of an embodiment of a device according to the invention 1 and a first step, as may be present in one embodiment of a method according to the invention.

The device 1 is intended for positioning individual liners 15 a stack of stacks 2 on assigned pallets 9 , The liner pile 2 includes a plurality of such intermediate layers 15 by means of the device 1 isolated and following on the pallet 9 to be placed. The pallet 9 is on a filing place 7 arranged.

The liner pile 2 is in the area of a Zuführplatzes 3 placed. Were all liners 15 from the pile 2 taken, the stack can 2 through another pile 2 with new liners 15 replaced or replaced.

It can be seen in 1 also a transfer unit 4 containing several contact agents 11 includes. From the contact agents 11 is in 1 a contact agent 11 to recognize. One or more other contact means may be associated with the contact agent 11 - Depending on the embodiment - aligned in the direction of the image plane.

The contact means 11 are adapted for releasably gripping a respective uppermost on the stack 2 arranged liner 15 via negative pressure. For this purpose, the contact means 11 previously, as shown in the following figures, by a pivoting movement on the uppermost on the stack 2 arranged liner 15 put on or via a pivoting movement with the respective uppermost on the stack 2 arranged liner 15 brought into surface contact.

It should be noted that the design of the transfer unit 4 from the present figures by way of example only. In order to implement the present invention, a plurality of further transfer units can be provided, which differ structurally and / or in the functional principle from the embodiment shown in the figures of the present patent application.

The device 1 also includes a feed device 21 or several rotating rollers 23 (see. 2 ), of which in 1 a rotating roller 23 can be seen. The feed device 21 or the rotating rollers 23 can, as indicated by arrow view, vertically on the stack 2 or on top of each on the stack 2 arranged liner 15 lowered and with the respective uppermost on the stack 2 arranged liner 15 pressurized be brought into contact. The rotating movement of the rollers 23 is specified via the control device S. Also the lifting and lowering of the feed device 21 or the rotating rollers 23 is initiated via the control device S.

The feed device 21 or the rotating rollers 23 as well as the transfer unit 4 are on a common suspension 31 arranged. For lifting and lowering the feed device 21 or the rollers 23 will the suspension 31 moved vertically, leaving a lifting and lowering of the feed device 21 or the rollers 23 a lifting and lowering of the transfer unit 4 results.

To the suspension 31 coupled is also the transfer point 5 , Will the transfer unit 4 or is the feed device 21 lifted and / or lowered, then becomes the transfer point 5 by its coupling with the suspension 31 moved vertically upwards or vertically downwards.

With the suspension 31 rigidly connected is also a leading edge 13 that as a stop 14 for liners 15 is formed and their function and advantageous use in the following figures will be further described. The transfer place 5 are assigned further more centering 22 ,

numeral 6 also refers to a horizontal axis around which the transfer point 5 , as also shown in the following figures, can be pivoted. In 1 has the transfer place 5 a first stable position LP1 occupied by means of pivotal movement about the axis 6 can he in a second stable position LP2 (see. 15 ) are transferred.

2 shows a schematic view of the device 1 out 1 off at the first step 1 ,

To recognize are four contact means 11 , wherein the upper pair of contact means 11 a first transfer unit 4 is assigned and the other pair of contact means 11 a second transfer unit 4 assigned. The two transfer units 4 are in the top view 2 not shown, but they may have a layout as shown 1 have.

The device 1 can thus have several transfer units 4 possess, if necessary, asynchronously, but preferably synchronously via a control device S (see. 1 ) are moved. For several transfer units 4 can also have multiple stacks 2 with liners 15 be present, each one of the transfer units 4 liners 15 each one associated stack 2 extracts. 2 shows two at the top of each stack 2 arranged liners 15 , each of a transfer unit 4 from the respective stack 2 can be accepted.

The number of transfer units 4 is to be understood in the present case only as an example, so that in various embodiments, if necessary, more than two transfer units 4 or only a transfer unit 4 Can be used. Likewise provides design of the transfer units 4 with two contact agents 11 an exemplary embodiment, so that in other embodiments, only one contact means or more than two contact means can be used.

Also is already in 1 shown feed device 21 to recognize, in the present case of two rotating rollers 23 are formed. The rollers 23 or the longitudinal axes of the rollers 23 are arranged at an angle to each other. One of each of the rollers 23 stands with one at the top on a stack 2 arranged liner 15 pressurized in surface contact.

The transfer place 5 is dimensioned such that several intermediate layers 15 and in the present case two intermediate layers 15 next to each other and without contact on the transfer area 5 arranged or via the transfer units 4 can be positioned.

The storage place 7 with pallet 9 out 1 is in 2 not shown for reasons of clarity. The transfer place 5 are several centering elements 22 assigned, which partially have a perpendicular orientation to each other. Via a feed movement of the centering elements 22 whose direction of movement by means of arrow representation in 2 may be indicated, one or more on the transfer point 5 arranged intermediate layers 15 be aligned.

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

So was in 3 the transfer unit 4 already lowered vertically, in order subsequently to the respective uppermost on the stack 2 arranged liner 15 to be set up. As previously mentioned, the transfer unit stands 4 with a suspension 31 in connection. Lowering the transfer unit 4 is via a vertical lowering movement of the suspension 31 causes.

As with the suspension 31 also the leading edge 13 or the stop 14 , the feed device 21 or the rotating rollers 23 as well as the transfer place 5 with centering elements 22 be in contact, become the leading edge 13 or the stop 14 , the feed device 21 or the rotating rollers 23 as well as the transfer place 5 with centering elements 22 together or at the same time as the suspension 31 lowered.

The vertical lowering movement takes place until the feed device 21 or the rotating rollers 23 pressurized with the top of the stack 2 arranged liner 15 contact. Following this, the feed device 21 or can the rollers 23 be moved in rotation, resulting in a horizontal guidance of the respective uppermost on the stack 2 arranged liner 15 against as a stop 14 trained leading edge 13 results.

The stop 14 puts a flat attachment for the respective uppermost on the stack 2 arranged liner 15 ready, leaving the respective top on the stack 2 arranged liner 15 by means of a horizontal movement by the feed device 21 or the rotating rollers 23 at the stop 14 is aligned.

The transfer place 5 is still in the first stable position LP1 and is horizontally oriented. The horizontal leadership of the top of the stack 2 arranged liner 15 via the feed device 21 or the rotating rollers 23 is effected via the control device S, provided that the feed device 21 or the rotating rollers 23 pressurized with the respective uppermost on the stack 2 arranged intermediate alga 15 brought into surface contact.

4 shows a schematic plan view of the device 1 out 3 at further step off 3 ,

Comparing with 2 is in 3 very good to realize that each top of the stack 2 arranged intermediate layers 15 in each case a horizontal movement through the feed device 21 or the rotating rollers 23 and now within the scope of contact 11 are arranged. A feed movement of the centering elements 22 has not happened yet.

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

In the step out 5 became the means of contact 11 the transfer unit 4 already on the top of the pile 2 arranged liner 15 placed. The feed device 21 or the rollers 23 will continue to be turned. Because the respective liner 15 before placing the transfer unit 4 at the leading edge 13 or at the stop 14 is present, a pivoting movement of the transfer unit is sufficient 4 or the contact agent 11 to the transfer unit 4 with their contact agents 11 on the top of the pile 2 arranged liner 15 sit up.

An attachment of the transfer unit 4 or the contact agent 11 on the top of the pile 2 arranged liner 15 is predetermined by the controller S. The control device S takes into account a previous pressurized contact of the feed device 21 or the rotating rollers 23 with the top of the pile 2 arranged liner 15 so that putting on the transfer unit 4 only takes place when the top of the pile 2 arranged liner 15 at the leading edge 13 or at the stop 14 pending.

6 shows a schematic plan view of the device 5 at further step off 5 , As in 6 The liners became well recognizable 15 opposite to their position 4 by means of the feed device 21 or the rotating rollers 23 continue to run horizontally and are now at the leading edge or stop 14 (see. 5 ) at.

The contact means 11 are now on the respective liner 15 put on and have the respective intermediate layer 15 detected by means of negative pressure. A feed movement of the centering elements 22 still not done.

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

By means of the transfer unit 4 was the top on the stack 2 arranged liner 15 now from the stack 2 lifted. The lifting or separating the uppermost on the stack 2 arranged liner 15 from the pile 2 takes place by a pivoting movement of the transfer unit 4 or by a pivoting movement of the contact means 11 the transfer unit 4 and is effected via the controller S.

7 also shows that even when lifting or separating the top of the stack 2 arranged liner 15 from the pile 2 the feed device 21 or the rollers 23 continue to be moved in rotation.

It is conceivable in various embodiments that the transfer unit 4 after lifting the liner 15 from the pile 2 remains in position for a certain length of stay. This may be due to electrostatic adhesion to the top of the stack 2 arranged liner 15 attaching further liners 15 from the top of the pile 2 arranged liner 15 fall off. The certain residence time is stored in the control device S, so that the stationary state of the transfer unit 4 is predetermined by the control device S.

When lifting the top of the stack 2 arranged liner 15 from the pile 2 becomes the liner 15 sliding at the leading edge 13 moved along. The leading edge 13 is partially over the top of the stack 2 arranged liner 15 inclined. This is how the liner works 15 when lifting through the transfer unit 4 at least in one area, which with the leading edge 13 in abutment, curved until the liner 15 the leading edge 13 when lifting completely happened. At the liner 15 if applicable, further intermediate layers 15 This allows you to work directly with the transfer unit 4 related liner 15 fall off.

The transfer place 5 is when lifting the top of the stack 2 arranged liner 15 was still arranged in its first stable position LP1 and was not yet around the horizontally oriented axis 6 pivoted.

8th shows a schematic plan view of the device 1 out 7 at further step off 7 , You can see, as well as in 6 , again the centering elements 22 whose position remains unchanged. A feed movement of the centering elements 22 is therefore not yet done.

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

As indicated by arrow, the transfer unit becomes 4 as well as with the contact means 11 the transfer unit 4 related liner 15 in the direction of the transfer point 5 guided. The transfer unit 4 For this purpose, it is moved horizontally and may not be in communication with a linear guide shown in the figures with a patent application in the figures.

The horizontal movement of the transfer unit 4 takes place after fixing the intermediate layer 15 at the contact means 11 and temporally after previously described lifting the top of the stack 2 arranged liner 15 from the pile 2 ,

The position of the centering elements 22 is still unchanged, the transfer point 5 is still in the first stable position LP1. Around the horizontal axis 6 was not panned.

During a lead of the liner 15 in the direction of the transfer place 5 becomes the respective intermediate layer 15 over the leading edge 13 supported. The risk of unintentional loosening of the liner 15 from the contact agents 11 the transfer unit 4 can be reduced thereby.

10 shows a schematic plan view of the device 1 out 9 at further step off 9 , It can be seen that the two transfer units 4 or the transfer unit 4 with the above pair of contact agents 11 and the transfer unit 4 with another pair of contact agents 11 one intermediate layer each 15 at the same time in the direction of the transfer station 5 move.

In each case a further intermediate layer 15 of the respective stack 2 is exposed here, so that the respective transfer unit 4 after positioning the respective intermediate layer 15 on the transfer place 5 another liner 15 from the pile 2 can take.

11 shows a schematic view of the device 1 from the preceding figures in a further step, as it may be present in an embodiment of a method according to the invention. The liner 15 is now almost completely via the transfer unit 4 in the direction of the transfer point 5 moves, fixing the liner 15 about the contact means 11 at the transfer unit 4 but is still trained. The transfer place 5 is still in the first stable position LP1 and is oriented horizontally, a feed movement of the centering 22 did not happen.

12 shows a schematic plan view of the device 1 out 11 at further step off 11 , Also in 12 it is good to see that the liners 15 completely via the transfer unit 4 in the direction of the transfer point 5 were moved. Other liners 15 of the respective stack 2 are now completely exposed.

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

The connection between the contact agents 11 and the transfer unit 4 has already been solved, leaving the liner 15 completely on the transfer place 5 is arranged.

Following this, the transfer unit 4 horizontally in the direction of the stack 2 be moved back to the pile 2 again one on top of the pile 2 arranged liner 15 receive. 13 also shows that the feed device 21 or the rollers 23 when returning the transfer unit 4 in the direction of the stack 2 already be moved in rotation and thus the top of the stack 2 arranged liner 15 horizontally against the stop 14 to lead.

Next step is the 13 a feed movement of the centering elements 22 takes place, which the intermediate layers 15 the transfer place 5 on the transfer place 5 align. The feed movement of the centering elements 22 This can be done simultaneously with an incipient return of the transfer unit 4 or at least approximately immediately after disconnecting the connection between the contact means 11 and the liner 15 respectively.

14 shows a schematic plan view of the device 1 out 13 at further step off 13 , Also in 14 is the carried out feed movement of the centering elements 22 clearly visible. As in schematic representation 13 shown, make the centering elements 22 each a flat system for the intermediate layers 15 ready.

As previously mentioned, the transfer units become 4 after complete positioning of the respective intermediate layer 15 on the transfer place 5 in the direction of the respective stack 2 recycled. 4 lets you know that as well as the return of the two transfer units 4 synchronously or at the same time takes place.

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

The liner 15 was here by a handling device 30 accepted. Also the handling device 30 has suction cups, by means of which they the intermediate layer 15 Continuing on its assigned palette 9 wearing.

Time after or immediately after receipt of the intermediate position 15 from the transfer point 5 through the handling device 30 becomes the transfer point 5 lowered in the direction of a floor surface. In the present case, the lowering takes place by pivoting the transfer station 5 around the horizontal axis 6 , The direction of movement or the direction of pivoting of the transfer station 5 is indicated by means of arrows, to which reference numeral 32 points. The pivoting of the transfer station 5 as well as the acceptance of the intermediate layer 15 from the transfer point 5 and their continuation towards the palette 9 are initiated via the control device S.

By lowering or swiveling the transfer station 5 around the horizontally oriented axis 6 there is advantageously the possibility of the handling device 30 sloping down towards the pallet 9 respectively. The direction of movement of the handling device 30 is indicated by means of arrows, to which reference numeral 34 points. After panning, the transfer point has 5 a second stable position LP2 occupied, in which the transfer point 5 inclined to a horizontal. It is pivoted about an angle, which is approximately 45 °.

Due to the possible pivoting movement of the transfer station 5 and the oblique movement of the handling device 30 with the liner 15 , can the liner 15 directly towards the pallet 9 be guided, whereby the respective intermediate layer 15 time-optimized on the pallet 9 is placeable.

True, is in 15 only a handling device 30 it is conceivable, however, that several handling device 30 are present, their possibly synchronous movement via the control device S is specified and each for the receipt and positioning of intermediate layers on an associated pallet 9 are formed. The person skilled in the art is aware that he has the number of handling devices 30 can choose any and depending on a desired throughput. For example, the number of handling devices 30 the number of transfer units 4 correspond. The movement of the transfer units 4 is with the movement of the movement handling equipment 30 is tuned and is initiated by means of the control device S.

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

16 lets recognize that the transfer place 5 before returning the handling device 30 in the direction of the stack 2 was raised or before returning the handling device 30 in the direction of the stack 2 was again swung back to the first stable position LP1 with horizontal orientation.

Thus, as soon as possible another intermediate layer 15 via the transfer unit 4 from the pile 2 on the transfer place 5 be transferred. In order to be able to carry out the process as efficiently as possible in terms of time, such timely backward pivoting is desired or advantageous.

Not to the already swung back into the horizontal stable position LP1 transfer point 5 To collide, the handling device 30 after placing the respective intermediate layer 15 on the pallet 9 be raised vertically. It is conceivable that after vertical lifting a horizontal guidance of the handling device 30 in the direction of the transfer point 5 to make another intermediate layer 15 from the transfer point 5 to take and after pivoting of the transfer point 5 (see. 15 ) by means of the handling device 30 in the direction of the pallet 9 respectively.

The handling device 30 may be in communication with the controller S, which controls the vertical and oblique movement of the handling device 30 in the direction of the bottom surface as a function of the respective position LP1 or LP2 of the transfer station 5 pretends.

17 show schematic views of another embodiment of a device according to the invention 1 , Also the device 1 according to embodiment of the 17 to 28 is intended for separating individual liners 15 from a liner pile 2 as well as positioning on a transfer point 5 ,

The transfer place 5 is also in embodiment of the 17 to 28 about a horizontally oriented axis, as already shown in the embodiment of the preceding figures, pivotable or lowerable. The pivoting movement and the handling device 30 are in the 17 to 28 not shown, but are in embodiment of the 17 to 18 also according to the embodiment of the preceding 1 to 16 available.

When displayed off 17 is the liner stack 2 not yet in the area of Zuführplatzes 3 arranged. The liner pile 2 is together with the respective layers 15 however, in all subsequent ones 18 to 28 exemplified with.

It can be seen in the 17 furthermore a transfer unit 4 containing several contact agents 11 has. Next is the transfer unit 4 about a substantially horizontally oriented axis pointing in the direction of the image plane, together with the contact means 11 pivotable.

The top view 17B shows the position of the contact means 11 , Two contact agents each 11 are a transfer unit 4 assigned, so that for the embodiment of the 7 to 18 two transfer units 4 are provided, which are performed in parallel. The assignment of two contact agents 11 to a transfer unit 4 is to be understood here merely as an example, so that in further embodiments of a transfer unit 4 also more than two or one contact 11 can be assigned. Present are the contact means 11 designed as a suction device and fix the respective intermediate layer 15 at the transfer unit 4 via negative pressure.

The movement and function of the transfer units 4 is again effected via the control device S. Indicated in phantom lines is a trajectory which is the transfer unit 4 to receive a respective topmost on the stack 2 arranged liner 15 follows. This is how the transfer unit becomes 4 alternately moved back and forth along the path indicated in phantom lines.

As you can see, the transfer unit becomes 4 First run horizontally until they are above the stack 2 or in the area of Zuführplatzes 3 located. Subsequently, a vertical lowering of the transfer unit takes place 3 on top of each on the stack 2 arranged liner 15 ,

After receiving the respective uppermost on the stack 2 arranged liner 15 and fixing the liner 15 about the contact means 11 at the respective transfer unit 4 , the transfer unit becomes 4 vertically raised and then horizontally in the direction of a gripping device described in more detail below 37 hazards. Once the transfer unit 4 in the 17 reached position shown, again takes place a return in the direction of the stack 2 for the purpose of receiving another at the top of the pile 2 arranged liner 15 ,

Regarding the several or the two transfer units 4 is in the embodiment of the 17 to 28 provided that the transfer units 4 synchronously and in parallel. However, it is also conceivable that the several transfer units 4 be performed asynchronously in further embodiments, so that the plurality of transfer units 4 at different times liners 15 from the respective stack 2 take and from the respective pile 2 separate.

It is still a leading edge 13 available as a stop 14 for the liner stack 2 is trained. The leading edge 13 or the stop 14 is, as in synopsis of 20 and 21 can be seen, moved horizontally, with the respective stack of layers 2 to be able to come into surface contact. Next is the leading edge 13 or the stop 14 inclined to a vertical and includes an obtuse angle with the vertical. The advantageous technical effect, which from the inclination of the leading edge 13 or the stop 14 results will be clarified and described in detail in the following figures.

There is also a support 26 provided, which is horizontal and relative to the leading edge 13 or to the stop 14 can be moved. Also the support 26 forms a horizontal contact surface contact with the stack of layers 2 out. This is the stack of liners 2 the leading edge 13 or the stop 14 and the prop 26 interposed on both sides surface contact, so that when separating individual layers 15 from the pile 2 a disorientation of other layers 15 on the stack 2 can be excluded. The separation of individual layers 15 is thereby facilitated.

A push button sensor 29 or Anpassteller is connected to the control device S in operative connection. The push button sensor 29 is provided by placing a vertical position of the respective uppermost on the stack 2 arranged liner 15 to recognize. Depending on the respective via the push button sensor 29 Detected position becomes the suspension 31 to which the transfer unit 4 is coupled, if necessary moved vertically to a placement of the transfer unit 4 on top of each on the stack 2 arranged liner 15 to enable.

Since there are two stacks 2 are provided, of which in each case a transfer unit 4 liners 15 is any transfer unit 4 or each pile 2 a push button sensor 29 assigned. In the schematic plan view 17B are the two tactile sensors 29 to recognize.

Furthermore, the device comprises 1 several gripping devices 37 which the respective intermediate layer 15 from the transfer unit 4 and continue towards the transfer area 5 transport. In the embodiment of the 17 to 28 are two parallel gripping devices 37 present, each gripping device 37 two gripping elements 39 assigned.

As with the in the 7 shown transfer unit 4 is the number of gripper elements 39 merely to be understood as an example. In preferred embodiments, the gripping elements 39 be formed by gripping fingers, which the respective intermediate layer 15 upon receipt of the respective transfer unit 4 fix in a clamped way.

Since after receiving the respective liner 15 from the gripping device 37 the transfer unit 4 in the direction of the stack 2 can be moved back, is the method with one or more gripping device 37 implemented under increased throughput. To the respective liner 15 in the direction of the transfer point 5 to move, the gripping devices 37 move horizontally. For this purpose, a linear guide or the like may be provided. The for the respective liners 15 on the transfer place 5 provided position is in the schematic plan view 17B indicated by phantom lines. Are there one or more intermediate layers 15 in the in 17B By means of phantom lines indicated position, so they can by one or more in the 17 not with handling devices shown 30 from the transfer point 5 added, the transfer point 5 be pivoted and the liners 15 on the respective pallet 9 (see. 1 ) to be placed.

At a pillar 111 Can be raised and lowered vertically is a suspension 31 arranged. To the suspension 31 coupled are the support 26 , the tactile sensors 29 , the transfer units 4 , as well as the gripping devices 37 , Will the suspension 31 lifted or lowered vertically, so are the prop 26 , the tactile sensors 29 , the transfer units 4 and the gripping devices 37 here with the suspension 31 simultaneously moved vertically.

17B also reveals that the suspension 31 is designed as a raised and lowered frame construction, which extends completely around the Zuführplatz.

18 show the device 1 out 17 in a further process step. 18A shows here still a schematic side view, while in 18B a schematic plan view of the embodiment is shown.

A stack 2 with liners 15 is now in the area of Zuführplatzes 3 positioned. The stack 2 includes a variety of liners 15 on a palette 19 are arranged. The as a stop 14 trained leading edge 13 is not yet with the stack 2 or with the intermediate layers 15 of the pile 2 brought into surface contact. The transfer units 4 and the gripping devices 37 are unmoved until then. About the controller S, starting from the state of the 18A and 18B now an intermediate layer separation or a separation of individual intermediate layers 15 from the respective stack 2 be initiated. 18 thus show an initial state, as it can be formed before the beginning of a spacer separation.

Is the simultaneous separation of intermediate layers 15 for several stacks 2 provided, so can the stacks 2 have an identical vertical extent or an identical height at the beginning of a spacer separation. Several such stacks 2 at intermediate layers 15 can thus have an identical number of layers 15 exhibit.

19 show the device 1 from the 17 and 18 in a further process step. At the beginning of the intermediate layer separation or at the beginning of the separation of individual intermediate layers 15 from the pile 2 will the suspension 31 along the pillar 111 raised vertically until the transfer unit 4 , the support 26 , the tactile sensors 29 and the gripping device 37 overall above the stack 2 are arranged. The stack 2 with the liners 15 remains unmoved in his position on the Zuführplatz 3 ,

Vertical lifting of the suspension 31 is controlled by the controller S and can be effected via one or more actuators, such as cylinders, motors or the like.

20 show the device 1 from the 17 to 19 in a further process step. Based on the location of the suspension 31 from the 19 became the suspension 31 vertically in the situation from the 20 lowered. The lowering was effected via the control device S and can take place until the push button sensor 29 with the respective topmost on the stack 2 arranged liner 15 comes into contact. The position of the respective topmost on the stack 2 disposed liner 15 is then known, so that the transfer unit 4 below now on the stack 2 lowered and the respective uppermost on the stack 2 arranged liner 15 about their contact 11 can take.

20B also reveals that two stacks 2 adjacent to the feed area 3 are positioned, each stack 2 a respective upper intermediate layer 15 has. Every pile 2 Here is a separate push button sensor 29 assigned to the position of the respective topmost on the stack 2 arranged liner 15 detected. Every pile 2 is also a separate transfer unit 4 assigned to the top of each stack 2 arranged liner 15 from the pile 2 to be able to disconnect. Also is every pile 2 a separate gripping device 37 assigned to those on the respective stack 2 uppermost arranged liner 15 after separating in the direction of the transfer place 5 transport and on the transfer place 5 to be able to position. The number of stacks 2 or assigned transfer units 4 as well as gripping devices 37 is to be understood by way of example here. In other embodiments, more than two stacks may be used 2 or just a stack 2 be provided so that the inventive device 1 not on a spacer separation of two stacks 2 is limited.

21 show the device 1 from the 17 to 20 in a further process step.

The transfer unit 4 was now on the top liner 15 of the respective stack 2 vertically lowered and is in surface contact with the intermediate layer 15 , A synopsis of 20 and 21 also reveals that the suspension 31 this was not moved. The vertical movement of the transfer unit 4 when lowering is thus relative to the suspension 31 , For example, the transfer unit 4 For this purpose, with one or more actuators or pneumatic cylinders (not shown) are in communication, which is the vertical lowering of the transfer unit 4 in the direction of the respective uppermost on the stack 2 arranged liner 15 cause.

The vertical lowering of the transfer unit 4 is again specified or initiated via the control device S. Since the control device S, as previously mentioned, with the tactile sensors 29 is the amount of the path which the transfer unit 4 with vertical lowering, known. With successive separation of individual layers 15 from the pile 2 decreases the level or height of the stack 2 , The tactile sensors 29 however, they remain in surface contact with the respective uppermost on the stack 2 arranged liner 15 so that the position or vertical position of the respective uppermost on the stack 2 arranged liner 15 determined in real time and as

Information from the push-button sensors 29 is transmitted or transmitted to the control device S.

So that the tactile sensors 29 even if the height of the stack decreases 2 continuously with the respective uppermost on the stack 2 arranged liner 15 can stay in contact, the suspension is 31 this together with the tactile sensors 29 gradually lowered. Lowering the suspension 31 to maintain the surface contact of the tactile sensors 29 with the respective topmost on the stack 2 arranged liner 15 can in turn be effected via the control device S. In this case, the control device S in the absence of surface contact of the touch sensors 29 to the respective topmost on the stack 7 arranged liner 15 a lowering of the suspension 31 effect, however, with trained surface contact the tactile sensors 29 to the respective uppermost on the stack 2 arranged liner 15 prevent a lowering.

In the in the 21 shown position are the contact means 11 the transfer unit 4 in surface contact with the top of the stack 2 arranged liner 15 ,

A synopsis of 20 and 21 also shows that both the support 26 as well as the stop 14 trained leading edge 13 were moved horizontally and now with the pile 2 or with intermediate layers 15 of the pile 2 stay in contact. Here are the liners 15 of the pile 2 fixed so that an unwanted disorientation of individual layers 15 of the pile 2 This can be avoided.

Both the prop 26 as well as the stop 14 trained leading edge 13 make a flat attachment for the stack 2 or for intermediate layers 15 of the pile 2 ready. Opposite the prop 26 is that as a stop 14 trained leading edge 13 partially inclined. The inclined area of the as stop 14 trained leading edge 13 extends over the stack 2 or over the intermediate layers 15 of the pile 2 , A concomitant effect of separating one on top of the stack 2 arranged liner 15 from the pile 2 will in the following 22 and 23 shown and described in detail.

The schematic plan view 21B also shows that the prop 26 and that as a stop 13 trained leading edge 14 with multiple Pile 2 can be brought into surface contact or liners 15 several stacks 2 can fix. Also, in practice, several leading edges 13 or more supports 26 be provided, each stack 2 a separate leading edge 13 or your own support 26 assigned. The gripping devices 37 are in the 21 still unmoved and in a waiting position.

The separation of the respective intermediate layer 15 from the pile 2 is under the synopsis of 22 to 24 clarified. This is how the transfer unit performs 4 starting from the in the 21 initially shown a rotational movement about a horizontal and oriented in the direction of the image plane axis.

With the transfer unit 4 become the contact means 11 which continues to be the top on the stack 2 arranged liner 15 fix rotating.

Also, it may be that the transfer unit 4 is not moved after their rotation over a certain residence time or remains unmoved in their respective position. For example, the transfer unit 4 this in the 23 form the assumed position. This may possibly unintentional recorded intermediate layers 15 from the transfer unit 4 solve, because over the certain residence time, at which the transfer unit 4 is not moved, possibly between several by the transfer unit 4 recorded layers 15 trained electrostatic adhesion can be overcome. The determined residence time can in turn be specified via the control device S.

With rotating movement and / or with vertical lifting of the transfer unit 4 (see. 23 and 24 ), the respective one at the transfer unit 4 fixed intermediate layer 15 under surface contact sliding on the inclined and as a stop 14 trained leading edge 13 moved along. As a result, a deformation of the respective intermediate layer 15 can also be accompanied by the movement of the liner 15 along the inclined leading edge 13 if necessary, several adhering intermediate layers 15 be separated.

The relative position of the support 26 and that as a stop 14 trained leading edge 13 is during the separation of individual layers 15 from the pile 2 not changed throughout, so that the leading edge 13 continuously throughout the stack during separation 2 or above on the top of the stack 2 arranged liner 15 inclines.

25 show the device 1 from the 17 to 24 in a further process step. 25 let a horizontal movement of the transfer units 4 in the direction of the gripping devices 37 detect. For this purpose, both transfer units 4 with their respective liner 15 moved in parallel.

Like a synopsis of 24 and 25 clarified, were the transfer units 4 turned back before its horizontal drive, so that the transfer units 4 the before lowering onto the stack 2 have trained rotational position.

The transfer units 4 reach their respective associated gripping device 37 in an area that is between the feeding place 3 and the transfer point 5 located. Here are the liners 15 from the respective gripping device 37 taken and clamped on the gripping device 37 fixed. Once the fixation is formed, the connection between the contact means 11 the transfer unit 4 and their respective liner 15 be solved.

Because of the fixation a firm and detachable connection between the liners 15 and the gripping devices 37 is formed, the transfer unit 4 for the purpose of receiving another at the top of the pile 2 arranged liner 15 in the direction of the stack 2 be moved back. This is followed by the transfer unit 4 in phantom lines in 25A indicated train. The movement is under the synopsis of 26 to 27 to recognize. After a horizontal travel, as previously described, a vertical lowering movement takes place in the direction of the respective uppermost on the stack 2 arranged liner 15 ,

As in particular in the plan view 25B The transfer units are easy to recognize 4 from the feed station 3 or from the pile 2 away obliquely in the direction of the gripping devices 37 to be moved. Since the gripping devices 37 are only horizontally movable, the liners must 15 each aligned with their particular orientation on the transfer point 5 to the gripping devices 37 be passed on. In practice, it has been shown that despite fixation of the intermediate layers 15 about as a stop 14 trained leading edge 13 as well as the support 26 the individual layers 15 often inaccurate from the respective transfer unit 4 be received. Preferably, therefore, one or more sensors can be provided, which determine the relative position of the respective intermediate layer 15 to the transfer unit 4 after their receipt. The direction or the path of the further movement travel of the transfer unit 4 upon receipt of the respective intermediate layer 15 can then be selected or specified such that the intermediate layer 15 to their respective intended and designated position at the transfer point 5 aligned in plan view. An exact alignment of the liners 15 on the transfer place 5 can be ensured in such embodiments.

The one or more sensors, which are not shown in the figures of the present patent application, may be formed for example as light barriers. In particular, the sensors may be connected to one or more transfer units 4 be fixed to the respective relative position of the one or more transfer units 4 temporarily fixed intermediate layers 15 to grasp exactly.

26 show the device 1 from the 17 to 25 in a further process step. Here's the receipt of the liners 15 by the gripping devices 37 again clarified.

The transfer units 4 be upon receipt of the liners 15 by the gripping devices 37 again about the axis A (see. 5 ) is rotated.

27 show the device 1 from the 17 to 26 in a further process step. Were the liners 15 by the gripping device 37 received and became the connection between the contact means 11 the transfer units 4 and the liners 15 solved, the transfer units 4 and the gripping devices 37 be moved in opposite directions or moved away from each other.

The transfer units 4 be in the context of a horizontal travel in the direction of the stack 2 moved back. Next move the gripping devices 37 in the context of a parallel horizontal journey in the direction of the transfer station 5 to the liners 15 to position there.

28 show the device 1 from the 17 to 27 in a further process step. Are the gripping devices 37 in the area of the transfer area 5 , so are the clamping connections between the gripping devices 37 and the respective intermediate layers 15 canceled. The liners 15 are then in the area of the transfer area 5 positioned.

Only after positioning the intermediate layers 15 in the area of the transfer area 5 become the transfer units 4 to receive another at the top of the pile 2 arranged intermediate layers 15 lowered vertically. At the same time, the gripping devices 37 in the direction of the transfer units 4 moved to re-liners 15 from the transfer units 4 to take, to fix in a clamped way, in the direction of the transfer place 5 to transport and then on the transfer place 5 to position.

The invention has been described with reference to a preferred embodiment. However, it will be apparent to those skilled in the art that modifications or changes may be made to the invention without departing from the scope of the following claims.

LIST OF REFERENCE NUMBERS

1

 contraption

2

 stack

3

 Zuführplatz

4

 transfer unit

5

 Transfer station

6

 Horizontal oriented axis

7

 space

9

 palette

11

 contact means

13

 leading edge

14

 attack

15

 liner

19

 palette

21

 feeder

22

 centering

23

 roller

26

 support

29

 Touch sensor

30

 handling device

31

 suspension

32

 movement direction

34

 movement direction

37

 gripper

39

 gripping element

111

 pillar

LP1

 First stable position

LP2

 Second stable position

S

 control device

Claims (19)

Contraption ( 1 ) for positioning individual intermediate layers ( 15 ) of a stack of liners ( 2 ) on assigned pallets ( 9 ), comprising - at least one transfer unit ( 4 ) containing one or more contact agents ( 11 ) for releasably gripping a respective uppermost on the stack ( 2 ) arranged intermediate layer ( 15 ) and from the stack ( 2 ) in the direction of a transfer point ( 5 ) for the respective intermediate layer ( 15 ) is movable and - at least one handling device ( 30 ), each receiving at least one intermediate layer ( 15 ) from the transfer point ( 5 ) as well as continuation and defined positioning of the at least one intermediate layer ( 15 ) on the respective pallet ( 9 ), characterized in that - the handling device ( 30 ) for the purpose of continuation has a freedom of movement with an oblique orientation in the direction of a floor surface and - the transfer point ( 5 ) is designed to take at least two stable position positions (LP1, LP2), wherein the transfer point ( 5 ) in a first (LP1) of the at least two stable position positions (LP1, LP2) has a substantially horizontal orientation and in a second (LP2) of the at least two stable position positions (LP1, LP2) is inclined relative to the horizontal. Device according to Claim 1, in which the transfer point ( 5 ) to change from the first position (LP1) to the second position (LP2) and to change from the second position (LP2) to the first position (LP1) about a substantially horizontally oriented axis ( 6 ) is pivotable. Apparatus according to claim 1 or claim 2, in which the handling device ( 30 ) Is designed to be movable in the vertical direction. Device according to one or more of claims 1 to 3, wherein the transfer point ( 5 ) one or more movable centering elements ( 22 ) for the defined alignment of one or more on the transfer point ( 5 ) each arranged intermediate layers ( 15 ) assigned. Device according to one or more of claims 1 to 4, wherein the one or more contact means ( 11 ) of the transfer unit ( 4 ) by at least one suction device for the purpose of fixing the respective uppermost on the stack ( 2 ) arranged intermediate layer ( 15 ) are formed via negative pressure. Device according to one or more of claims 1 to 5, comprising a vertically raisable and lowerable feed device ( 21 ), in particular a rotating roller ( 23 ), which is pressurized with the respective uppermost on the stack ( 2 ) arranged intermediate layer ( 15 ) is brought into surface contact. Device according to one or more of claims 1 to 6, comprising at least one over the stack of inlays ( 2 ) sloping leading edge ( 13 ). Apparatus as claimed in claim 7, wherein the at least one extends over the interleaf stack ( 2 ) sloping leading edge ( 13 ) is movable in the horizontal direction. Device according to one or more of claims 1 to 8, comprising at least one movable gripping device ( 37 ) for the purpose of receiving the relevant intermediate 15 ) from the transfer unit ( 4 ) and continuation and positioning of the intermediate layer ( 15 ) at the transfer point ( 5 ) is trained. Device according to one or more of claims 1 to 9, with at least one sensor via which a relative position of the respective intermediate layer ( 15 ) to the transfer unit ( 4 ) after gripping over the respective at least one transfer unit ( 4 ) is detectable and / or detectable and with one to the at least one transfer unit ( 4 ) and the at least one sensor coupled to the control device (S), via which a direction of the transfer unit ( 4 ) can be predetermined during movement as a function of the relative position determined and / or detected by means of the at least one sensor system. Method for positioning individual intermediate layers ( 15 ) of a stack of liners ( 2 ) on assigned pallets ( 9 ), in which - at least one transfer unit ( 4 ) containing one or more contact agents ( 11 ) for releasably gripping a respective uppermost on the stack ( 2 ) arranged intermediate layer ( 15 ), on the stack of liners ( 2 ) - a detachable connection between the top of the stack ( 2 ) arranged intermediate layer ( 15 ) and the one or more contact agents ( 11 ), - then the respective intermediate layer ( 15 ) with the aid of the at least one transfer unit ( 4 ) in the direction of a transfer point ( 5 ) and at the transfer point ( 5 ) and - one or more intermediate layers ( 15 ) from the transfer point ( 5 ) via at least one handling device ( 30 ), via which at least one handling device ( 30 ) in the direction of the respective associated pallet ( 9 ) and on the pallet ( 9 ), characterized in that - to continue the respective one or more intermediate layers ( 15 ) the at least one handling device ( 30 ) moved obliquely down and the transfer point ( 5 ) is lowered in the direction of a bottom surface. Method according to Claim 8, in which the transfer point ( 5 ) by means of a pivoting movement about a substantially horizontally oriented axis ( 6 ) is lowered. Method according to Claim 11 or 12, in which the transfer point ( 5 ) at an angle is pivoted, which is set between 0 ° and 90 ° and in particular between 30 ° and 60 °. Method according to one or more of claims 11 to 13, in which the lowering of the transfer station ( 5 ) in the direction of the floor surface after receipt of the respective intermediate layer ( 15 ) via the at least one handling device ( 30 ) he follows. Method according to one or more of Claims 11 to 14, in which the handling device ( 30 ) after placing the respective intermediate layer ( 15 ) on the pallet ( 9 ) vertically and above the level of the transfer point ( 5 ) is raised. Method according to one or more of Claims 11 to 15, in which the transfer point ( 5 ) with one or more centering elements ( 22 ), which after the positioning of the respective intermediate layer ( 15 ) via the at least one transfer unit ( 4 ) and when the connection of the one or more contact agents ( 11 ) to the respective intermediate layer ( 15 ) an orientation of the respective intermediate layer ( 15 ) at the transfer point ( 5 ) effect by means of a delivery movement. Method according to one or more of Claims 11 to 16, in which the respective transfer unit ( 4 ) after making the detachable connection to the respective uppermost on the stack ( 2 ) arranged intermediate layer ( 15 ) and slidably on a slope over the stack ( 2 ) extending leading edge ( 13 ) is passed. Method according to one or more of Claims 11 to 17, in which the respective intermediate layer ( 15 ) of the at least one transfer unit ( 4 ) via one or more gripping devices ( 37 ), via which one or more gripping devices ( 37 ) and transported to the transfer point ( 5 ) is stored. Method according to one or more of claims 11 to 18, wherein after grasping the respective intermediate layer ( 15 ) via the at least one transfer unit ( 4 ) a relative position of the intermediate layer ( 15 ) to at least one transfer unit ( 4 ) detected and / or detected by at least one sensor and the direction of movement of the transfer unit ( 4 ) is controlled as a function of the detected and / or detected by means of sensors relative position.

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