DK180533B1

DK180533B1 - Pallestabler

Info

Publication number: DK180533B1
Application number: DKPA201970193A
Authority: DK
Inventors: Lund Pedersen Michael
Original assignee: Hannemann Holding Aps
Priority date: 2019-03-29
Filing date: 2019-03-29
Publication date: 2021-06-10
Also published as: EP3947221A4; EP3947221A1; WO2020200383A1; DK201970193A1

Abstract

eStacker for pallets, where the stacker comprises a frame work intended for disposition with tree sideedges of a pallet where the stacker further comprises a lifting frame which is driven by an electrical lifting mechanism, where the lifting frame is moveable vertically up and down along the frame work, and where the lifting frame comprises a gripper arrangement driven by an electrical engagement mechanism, where each gripper arrangement comprises at least one gripper plate which is movable arranged between a position for engaging a pallet and a position for disengaging a pallet, whereby a stacker is provided which uses clean energy in terms of electricity making it useable in a wide range of industries.

Description

DK 180533 B1 eStacker for pallets The present invention relates to an eStacker for pallets, where the stacker is for stacking and unstacking pallets resting on each other in a vertical stack, where the stacker comprises a framework with at least a first side, a second side and a back, where the framework is intended for disposition with three side edges of a pallet, where the lifting frame is driven by an electrical lifting mechanism and moveable vertically up and down along the framework, and where the lifting frame at the first side and the second side comprises a gripper arrangement driven by an electrical engagement mechanism, where each gripper arrangement comprises at least one gripper plate which is movable arranged between a position for engaging a pallet and a position for disengaging a pallet.

The present invention also relates to methods, a computer program product and the use of the said eStacker.

PRIOR ART Before the development of the present invention, it was known to store pallets in stacks as e.g. disclosed in EP0587929A1 where pallets are removed from or added to the bottom or top of an erectable stack which is vertically displaced in a three-sided frame by two hydraulic cylinders.

JPH 11292287 A discloses a stacker for loading and unloading pallets, comprising a frame structure with a back side and two opposite sides defining a space for placement of the pallets. The stacker further comprises a lifting frame connected to an electrical lifting mechanism arranged on the frame structure, wherein the lifting mechanism can move the pallets vertically up and down using grippers. The

> DK 180533 B1 grippers comprise gripper plates that are able to move in and out of engagement with a respective pallet. One of the disadvantages of this is the use of hydraulic cylinders as hydraulic systems are unwanted in many places due to environmental or hygiene issues. Another one of the disadvantages of this known system is the lack of safety devices in order to prevent failures during operation. Hydraulic systems usually have hose break and/or stop valves to prevent the systems from collapsing.

Many stackers or pallet magazines are pneumatic, which in terms of energy is an even worse solution than hydraulics. Similarly, solutions with actuators are also known in many cases to result in short and/or poor durability. Regarding safety aspects in pneumatic systems, the systems are often dangerous due to the lack of safety arrangements. The present invention differs from the prior art technology by using clean energy in terms of electricity and in having anti-crash devices ensuring that no harm is done to neither pallets nor stacker.

OBJECT OF THE INVENTION The object of this invention is therefore to provide a stacker of the type mentioned in the introduction which uses clean energy in terms of electricity making it useable in a wide range of industries. It is a further object of the invention to provide a stacker which improves the working environment e.g. due to far less noise than pneumatic and hydraulic systems.

2 DK 180533 B1 It is an even further object of the invention to provide a stacker with anti-crash devices ensuring that no harm is done to pallets or stacker.

DESCRIPTION OF THE INVENTION According to a first aspect of the invention, the above object is achieved with an eStacker of the type mentioned in the introduction, where the gripper arrangement comprises a first wheel for moving the gripper plate into position for engaging a pallet and a second wheel for moving the gripper plate into position for disengaging a pallet, where the gripper plates are movable about an axis of rotation and where the first wheel and the second wheel are placed at opposite sides of a wobble plate arranged at a rod and where the first wheel via a spring is spring-loaded. This makes it possible to operate a stacker only using clean energy where the stacker is able to conduct a method of stacking and unstacking pallets. In a preferred embodiment is the eStacker an integrated safety-shielded unit where the vast majority of moving parts are not accessible during operation due to the use of coverplates.

In another aspect, the present invention also relates to an eStacker, where the first side and the second side of the lifting frame comprises a wall part, where the wall part at the first side is facing the wall part at the second side and where the wall parts are intended for disposition at opposite side edges of a pallet.

This makes it possible to hold the pallets at two sideedges between the wall parts when stacking and unstacking, hence avoiding the sliding of pallets up and down the sides of the frame work.

In a preferred embodiment the top of the wall parts is at least the same as the top of the stacker.

1 DK 180533 B1 In another aspect, the present invention also relates to an eStacker, where the electrical lifting mechanism comprises a sprocket driven by an electrical motor and gear unit, where the sprocket is connected to a shaft with a first end being off- centre of the sprocket and where a second end of the shaft is connected to the lifting frame, the first end being able to conduct rotational motion and the second end of the shaft being able to conduct linear motion. This makes it possible to lift and lower the lifting frame in a preferred embodiment by means of a sprocket driven by a chain which is driven by an electrical motor. An alternative embodiment could be a pulley driven by a toothed belt which is driven by an electrical motor.

An even further alternative embodiment could be a V-belt pulley driven by a belt which is driven by an electrical motor. Other embodiments based on friction could also be alternatives. In an even further embodiment a wheel could be directly driven by a motor and gear unit.

The rotational motion may be either clockwise or anticlockwise, and it may change between clockwise and anticlockwise in any way. The rotational motion may also run "endlessly" meaning that a cycle can be run on a lap in the same direction either clockwise or anticlockwise.

The sprocket is driven around an axle on which axle a plate/wheel/disk is also situated and where between the sprocket and the plate/wheel/disk the first end of the shaft is arranged off-centre.

In an alternative embodiment, the first end of the shaft could be arranged at the periphery of the sprocket, which would also ensure rotational motion.

på DK 180533 B1 In another aspect, the present invention also relates to an eStacker, where the second end of the shaft is connected to the lifting frame in a crash-safe bolt-slot connection, where at least one bolt is able to move within the slot if the lifting frame is blocked.

This makes it possible to avoid crashing of the electrical lifting mechanism, either in a direct connection with the lifting frame or in an indirect connection with the lifting frame.

In case of a blockage the bolt will then be able to move within the slot, hence avoiding crashing of the electrical lifting mechanism. In a preferred embodiment the slot is in the shaft and closer to the second end of the shaft than the first end of the shaft. The bolt/bolts are thus passing through the slot in the shaft and the bolts are connected to the lifting frame. Using an indirect connection the slot is in the shaft which is in the middle of the connection, where at both sides of the shaft there is a distance part and then another shaft which is connected with the rest of the lifting frame in a rotary joint.

In a further preferred embodiment the bolts are secured and tensioned at both sides of the shaft to the lifting frame via coupling means, where the coupling means being able to conduct rotational motion on the lifting frame and being able to conduct linear motion at the crash-safe bolt-slot connection.

It is also possible to avoid crashing of the electrical lifting mechanism by means of a sensor which sends signal to the control for stopping the machine in case of a blocking occurs.

In an optimal solution the eStacker is equipped with both the sensor crash-safe arrangement and the bolt-slot crash-safe arrangement.

på DK 180533 B1 In another aspect, the present invention also relates to an eStacker, where the electrical engagement mechanism is arranged at the lifting frame and where the electrical engagement mechanism comprises a sprocket driven by an electrical motor and gear unit, where the sprocket is arranged at the rod where the wobble plate is connected to the gripper arrangement at both the first side and at the second side of the lifting frame. This makes it possible to operate the gripper arrangements between a grip (engaging position) and a non-grip position (disengaging position) ensuring that the gripper arrangement at either side is in the same grip or non-grip position. In a preferred embodiment the sprocket is driven by a chain which is driven by an electrical motor.

An alternative embodiment could be a pulley driven by a toothed belt which is driven by an electrical motor. An even further alternative embodiment could be a V-belt pulley driven by a belt which is driven by an electrical motor. Other embodiments based on friction could also be alternatives. In an even further embodiment could a wheel be directly driven by a motor and gear unit. The rotational motion may be either clockwise or anticlockwise, and it may change between clockwise and anticlockwise in any way. As mentioned earlier, the gripper arrangement comprises at least one gripper plate which is movable arranged between a position for engaging a pallet and a position for disengaging a pallet, where the gripper arrangement comprises a first wheel for moving the gripper plate into position for engaging a pallet and a second wheel for moving the gripper plate into position for disengaging a pallet, where the gripper

, DK 180533 B1 plates are movable about an axis of rotation and where the first wheel and the second wheel are placed at opposite sides of the wobble plate arranged at the rod and where the first wheel via a spring is spring-loaded.

This makes it possible to avoid crashing of the electrical engagement mechanism, because the spring-loaded wheel gets into force in case there is a blockage of the gripper arrangement, that is, if the gripper arrangement is not able to move into position for engagement. A blockage of the gripper could happen in case a pallet was not yet brought into final position in the stacker or a misplacement happened.

In another aspect, the present invention also relates to an eStacker, where the lifting frame further comprises ball bearings arranged perpendicular to each other in pairs suitable to move vertically up and down joints provided between the first side, the back and the second side of the framework, where at least two pairs of ball bearings are arranged at either joint. This makes it possible to ensure a fully controlled vertical movement along the frame work, where the lifting frame cannot get out of track and cause a stand-still of the stacker.

In a preferred embodiment two pairs of ball bearings are arranged at either joint, where the pairs are at approximately the same horizontal level and further there are two pairs of ball bearings arranged at either joint vertical below each other. Hence, there are optimally four pairs of ball bearings ensuring a controlled movement. In another aspect, the present invention also relates to a method of stacking pallets in an eStacker, where the stacking at least comprises the following steps: e putting a pallet or stack of pallets into a correct position in the stacker,

8 DK 180533 B1 e lifting frame is driven to a disengaging position in which a pre-loaded pallet or stack of pallets are resting on the pallet or stack of pallets to form a combined stack, e gripper plates are moved into a disengaging position, e lifting frame is driven to a bottom position, e gripper plates are moved into an engaging position with the lowest pallet of the combined stack, e lifting frame is driven to a top position.

With this method it is possible, with the pallet stacker comprising a lift mechanism, which is disposed to lift the lower pallet one or more pallet heights as desired in engagement with two opposite side edges of a pallet for enabling upstacking of pallets, to build up the stack from beneath.

In another aspect, the present invention also relates to a method of unstacking pallets in an eStacker, where the de-stacking at least comprises the following steps: e lifting frame is driven to a bottom position, e gripper plates are moved out of an engaging position with a lowest pallet of the stack and into a disengaging position, e lifting frame is driven to an engaging position relative to a second lowest pallet of the stack or a lower pallet of an upper stack, e gripper plates are moved into an engaging position with the second lowest pallet of the stack), e lifting frame is driven to a top position, e removing the lowest pallet. With this method it is possible, with the pallet stacker comprising a lift mechanism, which is disposed to engage two opposite side edges of a second lowest pallet of a stack for lifting a pallet and those pallets, which are situated above the pallet, at o DK 180533 B1 least one pallet height, to enable the removal of the lowest pallet of the stack and thus downstacking from beneath.

In another aspect, the present invention also relates to a method of placing a stack of pallets in an eStacker, where the placing of a stack at least comprises the following steps: e an operator puts the stack of pallets correctly in the stacker, e lifting frame is driven to bottom position, e gripper plates are moved into an engaging position with a lower pallet of the stack, e lifting frame is driven to top position. With this method it is possible, with the pallet stacker comprising a lift mechanism, which is disposed to lift the lower pallet one or more pallet heights as desired in engagement with two opposite side edges of a pallet, to enable placing a stack of pallets, when building up the stack from beneath In another aspect, the present invention also relates to a method of removing a stack of pallets in an eStacker, where the removal of a stack at least comprises the following steps: e lifting frame is driven in bottom position, e gripper plates are moved out of an engaging position with a lower pallet of the stack and into a disengaging position, e lifting frame is driven to top position. e an operator removes the stack. With this method it is possible, with the pallet stacker comprising a lift mechanism, which is disposed to engage two opposite side edges of a second lowest pallet of a stack for lifting a pallet and those pallets, which are situated above the pallet, at

DK 180533 B1 10 least one pallet height, to enable the removal of the lower stack of pallets and thus downstacking from beneath. In another aspect, the present invention also relates to a computer program product comprising instructions to cause the eStacker to execute the steps of the methods. This makes it possible to automate the methods and to obtain a better and more efficient utilisation of the stacker capability.

In another aspect, the present invention also relates to a use of an eStacker for square or rectangular sized pallets. This makes it possible to stack and unstack pallets categorized as CHEP (Commonwealth Handling Equipment Pool) which is a well-defined size of pallets. However, the eStacker could be constructed to any other kind of square or rectangular pallet-size.

DRAWING The invention will be described in further details below by means of non-limiting embodiments with reference to the drawing, in which: Fig. 1a-1g show an eStacker in different views, Fig. 2a-2b show an eStacker in perspective, Fig. 3 shows an eStacker where the covering is removed and the lifting frame etc. is visible Fig. 4a-4d show a lifting frame in different views and with different details Fig. 5a-5d show the gripper arrangement in various positions, Fig. 6a-6d show the gripper arrangement in engaging and disengaging position.

u DK 180533 B1 In the drawing, the following reference numerals have been used for the designations used in the detailed part of the description: 1 eStacker/stacker 2 Pallet

3 Stack 4 Frame work 5 First side, frame work 6 Second side, frame work

7 Back, frame work 8 Sideedge, pallet 9 Lifting frame 10 First side, lifting frame 11 Second side, lifting frame

12 Back, lifting frame 13 Electrical lifting mechanism 14 Gripper arrangement 15 Electrical engagement mechanism 16 Wall part

17 Sprocket 18 Electrical motor and gear unit 19 Shaft 20 First end, shaft 21 Second end, shaft

22 Bolt-slot connection 23 Bolt 24 Slot 25 Gripper plate 26 Sprocket

27 Electrical motor and gear unit 28 Rod

12 DK 180533 B1 29 Wobble plate 30 First wheel 31 Second wheel 32 Spring 33 Ball bearings 34 Pair, ball bearings 35 Joint 36 Coupling means 37 Axis of rotation 38 Chain, Electrical lifting mechanism 39 Chain, Electrical engagement mechanism 40 Front 41 Above 42 Base 43 Coverplates 44 Frame, Gripper arrangement 45 Axis, Lifting frame

DETAILED DESCRIPTION OF THE INVENTION An eStacker according to the invention is shown in Figure 1-6. Figures 1a-1g show an eStacker 1 for pallets 2 in different views, where the stacker 1 is shown with coverplates 43, where figure 1a shows the stacker 1 from the back 7, figure 1b shows the stacker 1 from the first side 5, figure 1c shows the stacker 1 from the front 40, figure 1d shows the stacker 1 from the second side 6, figure 1e shows the stacker 1 from a perspective view from the first side 5 in which two pallets 2 are resting on each other in a vertical stack 3, figure 1f shows the stacker from above 41 where the sideedges 8 of the pallet 2 is visible and figure 1g shows the stacker 1 from a perspective view from the second side 6 in which two pallets 2 are resting on each other in a vertical stack 3.

13 DK 180533 B1 Figures 2a-2b show an eStacker 1 in perspective, where figure 2a shows the stacker 1 where the base 42 is separated from the rest of the stacker 1, where the stacker 1 is seen from the second side 6 and the back 7 and where the stacker 1 is covered by coverplates 43. Figure 2b shows the stacker 1 without cover plates 43 and where part of the frame work 4 is visible and where the lifting frame 9 is also shown.

Figure 3 shows an eStacker 1 where the covering/coverplates 43 is removed and the lifting frame 9 is also visible.

The figure also shows the electrical lifting mechanism 13 which drives the lifting frame 9 vertically up and down along the frame work 4, where the electrical lifting mechanism 13 comprises a sprocket 17 driven by an electrical motor and gear unit 18 and connected with a chain 38, where the sprocket 17 is connected to a shaft 19 with a first end 20 being off- centre of the sprocket 17 and where a second end 21 of the shaft 19 is connected to the lifting frame 9, where the first end 20 is able to conduct a rotational motion and the second end 21 of the shaft 19 is able to conduct a linear motion.

Figure 3 also shows that the second end 21 of the shaft 19 is connected to the lifting frame 9 in a crash-safe bolt-slot connection 22, where at least one bolt 23 is able to move within the slot 24 if the lifting frame 9 is blocked.

In the shown embodiment the bolts 23 are secured and tensioned at both sides of the shaft 19 to the lifting frame 9 via coupling means 36, where the coupling means 36 are able to rotate around an axis 45 on the lifting frame 9 and being able to conduct linear motion at the crash-safe bolt-slot connection 22. Figure 3 further shows the joints 35 provided between the first side 5, the back 7 and the second side 6 of the frame work 4. Figures 4a-4d show a lifting frame 9 in different views and with different details, where the lifting frame 9 at figure 4a is shown with a first side 10, a second side 11 and a back 12, figure 4b shows that the first side 10 and the second side 11 of

14 DK 180533 B1 the lifting frame 9 comprises a wall part 16, where the wall part 16 at the first side 10 is facing the wall part 16 at the second side 11, where the wall parts 16 are disposed at opposite side edges 8 of a pallet 2.

Figure 4c shows a detail from figure 4a where ball bearings 33 are arranged perpendicular to each other in pairs 34 being suitable to move vertically up and down joints 35 (see figures 2b and 3) of the frame work 4, where at least two pairs 34 of ball bearings 33 are arranged at either joint 35.

Figure 4d shows a perspective view of a lifting frame 9 where at the second side 11 a gripper arrangement 14 is visible and which is driven by an electrical engagement mechanism 15. The electrical engagement mechanism 15 comprises a sprocket 26 driven by an electrical motor and gear unit 27 and connected with a chain 39, where the sprocket 26 is arranged at a rod 28. The figure also shows that a wobble plate 29 is connected to the gripper arrangement 14 at both the first side 10 and at the second side 11 of the lifting frame 9.

Figures 5a-5d show the gripper arrangement 14 in various positions, figure 5a shows the gripper arrangement 14 from the front with gripper plates 25 which is movable controlled by the wobble plates 29 around the axis of rotation 37, figure 5b shows the gripper arrangement 14 from above, figure 5c shows the gripper arrangement 14 in perspective.

Figure 5d shows the gripper arrangement 14 from below where it is shown that the gripper arrangement 14 comprises a first wheel 30 for moving the gripper plate 25 into position for engaging a pallet 2 and a second wheel 31 for moving the gripper plate 25 into position for disengaging a pallet 2, in that the gripper plates 25 are movable about the axis of rotation 37 (shown e.g. at figure 5c) and where the first wheel 30 and the second wheel 31 is placed at opposite sides of the wobble plate 29 arranged at the rod 28 and where the first wheel 30 via a spring 32 is spring- loaded.

DK 180533 B1 Figures 6a-6b show the gripper arrangement 14 in engaging positions where the gripper plates 25 are substantially in horizontal position and the frame 44 is substantially in vertical position, where figure 6a shows the gripper arrangement 5 14 from the back and figure 6b shows the gripper arrangement 14 in perspective, and figure 6c-6d shows the gripper arrangement 14 in disengaging positions where the distance between the frame 44 closer to the two axis of rotation 37 are shorter than the distance between the frame 44 closer to the gripper plates 25, where figure 6c shows the gripper arrangement 14 from the back and figure 6d shows the gripper arrangement 14 in perspective.

The figures show that each gripper arrangement 14 comprises two gripper plates 25 which depending on the position of the wobble plates 29 are movable arranged between a position for engaging a pallet 2 as shown at figures 6a-6b and a position for disengaging a pallet 2 as shown at figures 6c-6d.

Claims

DK 180533 B1 1

A stacker (1) for pallets (2), the stacker (1) being for stacking and stacking pallets (2) resting on each other in a vertical stack (3), the stacker (1) comprising a frame (1). 4) with at least one first side (5), a second side (6) and a back (7), the frame (4) being intended for placement with three side edges (8) of a pallet (2), the stacker ( 1} further comprises a lifting frame (9) with at least a first side (10), a second side (11) and a back (12), the lifting frame (9) being driven by an electric lifting mechanism (13) and being movable vertically up and down along the frame (4), and wherein the lifting frame (9) at the first side (10) and the second side (11) comprises a gripper arrangement (14) driven by a relative iodine grip mechanism (15), each gripper arrangement ( 14) comprises at least one gripper plate (25) movably arranged between a position ul engaging a pallet (2) and a position for releasing a pallet (2), characterized in that the gripper arrangement (14) comprises a first wheel ( 30) for moving the gripper plate (25) to the position for engaging a pallet (2) and a second wheel (ID) for moving the gripper plate (25) to a position for releasing a pallet (2), where the gripper plates (25) are movable about an axis of rotation (37) and wherein the first wheel (30) and the second bell (31) are located at opposite sides of a rocker plate (29) arranged on a rod (28) and where the first wheel (28) 30) by means of a spring (32) the spring is loaded.

Stackers (1) according to claim 1, characterized in that the first side (10) and the second side {11} of the lifting frame (9) comprise a wall wall 1 (16), the wall part (16) at the first side (10) faces the wall part (16) at the other side (11), and where the wall parts (16) are arranged for placement at opposite side edges (8) of a pallet (2).

Stacker (1) according to any one of claims 1 and 2, characterized in that the electric lifting mechanism (13) comprises a sprocket (17) driven by an electric motor and gear unit (18), wherein the sprocket ( 17) is connected to a shaft (19) with a first end

DK 180533 B1 2 (20), which is uncentrated in relation to the sprocket (17) and where a second end (21) of the shaft (19) is connected to the lifting frame (9), the first end (20) is § able to perform a rotating motion and the other end of the shaft is capable of performing linear motion. Stacker (1) according to claim 3, characterized in that the other end (21) of the shaft (19) is connected to the lifting frame (9) via a collision-proof bolt-slot connection (22), wherein at least one bolt (23 ) is 1 able to move inside the slot (24) if the lifting frame (9) is blocked.

Stacker (1) according to any one of claims 1-4, characterized in that the electric engaging mechanism (15) is arranged at the lifting frame (9), and wherein the electric engaging mechanism (15) comprises a sprocket (26) driven by an electric motor and drive unit (27), the sprocket (26) being arranged on the rod (28), the roller plate (29) being connected to the gripper arrangement (14) at both the first side (10) and the second side (11) of the lifting frame (9).

Stacker (1) according to any one of claims 1-5, characterized in that the lifting frame (9) further comprises ball bearings (33) arranged perpendicular to each other in pairs (34) suitable for moving vertically up and down joints (35) provided between the first side (5), the back side (7) and the second side (6) of the frame frame (4), where at least two pairs (34) of ball bearings (33) are arranged at both joints (35).

Method for stacking pallets (2) in a stacker (1) according to any one of claims 1-6, characterized in that the stacking comprises at least the following steps: s placing at least one pallet (2) in the correct position in the stacker (1), = the lifting frame (9) is moved to a release position, where at least one pre-inserted pallet (2) or stack of pallets (2) rests on the at least one pallet (2) or stack of pallets (2) to form a combined stack,

DK 180533 B1 3 = the gripper plates (25) are moved to the release position, «the lifting frame (9) is moved to a bottom position, + the gripper plates (25) are moved into an engaging position with a lower pallet (2) of the combined stack, = The lifting frame (9) led to a top position.

Method for unstacking pallets (23 in a stacker (1) according to any one of claims 1-6, characterized in that unstacking 1 comprises at least the following steps: = lifting frame (9) is moved to a bottom position, «gripper plates (25) is moved out of an engaging position with a lower pallet (2) of the pallet stack (3) and to a release position, «lifting frame (9) is driven to an engaging position relative to another pallet (2) in the stack, for example a second lower pallet (2), «one plate (25) is moved in engaging position with a second lower teddy bear (2) of the stack (3), = lifting frame (9) is moved to a top position, + movement of the lower pallet (2).

Method for placing a stack (3) of pallets (2) in a stacker (1) according to any one of claims 1-6, characterized in that placing a stack comprises at least the following steps: an operator sets the stack (3) correctly 1 the stacker (1), = the ceiling frame (9) is moved to a bottom position, = the gripping plates (25) are moved to an engaging position with a lower pallet (2) of the stack (3), »the lifting frame (9) is moved to a top position.

DK 180533 B1 4 FO. Method for removing a stack (3) with pallets {231 a stacker (1) according to any one of claims 1-6, characterized in that the removal of a stack (3) comprises at least the following steps: = Jofferamine (9) is passed to a bottom position, = gripper plates (25) are moved out of an engaging position with a lower pallet (2) of the stack (3) and in a release position, = the lifting frame (9) is moved to a top position, s an operator removes the stack (3). FI A computer software product comprising instructions for obtaining the stacker as required

1.6 ul to perform the steps of the method according to any one of claims 7-10,

Use of a stacker (1) according to any one of claims I ~ 6 for square or rectangular dimensioned pallets (2).