KR20130143070A - Method for depositing leaf-shaped objects and assembly for carrying out said method - Google Patents

Abstract

The present invention relates to a method for loading sheet-shaped objects and an assembly for carrying out the method, wherein a plurality of said objects are successively superimposed on one another, and temporarily individual or multiple objects are removed again from above. In addition, the objects 4, 5 are offset from one another and / or rotated relative to one another and overlap.

Description

METHOD FOR DEPOSITING LEAF-SHAPED OBJECTS AND ASSEMBLY FOR CARRYING OUT SAID METHOD}

The present invention relates to a method for depositing a sheet-shaped object, in particular an electrode and / or separator constituting an electrochemical energy storage device, or a method for depositing portions of the electrode or separator, and an assembly for implementing the method.

Handling of sheet-shaped objects is important in a series of a wide variety of technical fields. In this case, the problem of classification of such a sheet-shaped object is always raised. Many attempts have been made to solve the problems arising in this case, especially in the field of page printers provided with stacks of paper sheets or in the field of bill handling.

DE 193 03 70 A1 discloses a device for separating a sheet-shaped recording medium from a stack that supports a vertically adjustable base plate, in which the recording medium at the top of the stack is classified by a rotating friction belt. It is guided through the neck of a conveying belt consisting of a conveyor belt rotating at a conveying speed and a brake belt in the opposite direction. In such a device, openings are arranged in a base plate that accommodates a stack disposed slightly inclined in the conveying device, and low pressure is supplied through the openings so that the friction of the lowest recording medium of the stack can be adjusted with respect to the friction belt classifying the medium. Can be.

DE 20 05 270 A1 is known for conveying a sheet-like document conveying device which consists of a hollow drum which is connected to a vacuum source via a hollow shaft and has a vacuum chamber with suction holes in its cylindrical case. In this conveying device, a pneumatically actuated diaphragm valve is arranged behind the suction port or group of suction holes, which valve selectively connects the openings to the vacuum chamber. To connect the suction ports to the vacuum chamber in case the documents should be fixed in the drum's cylindrical case, and to interrupt the connection to the vacuum chamber in the case that the documents are not fixed or the documents fixed in advance should be released. A pneumatic logic control is connected to the diaphragm valve.

DE 22 01 254 B2 discloses a device for separating sheet material from the bottom surface of a stack with a pair of conveyor rollers using a stationary stack table with slide plates capable of reciprocating, which slide plates At the rear edge, the bottom sheet of the stack is sorted and passed through the stack table into a conveyor roller that includes a support rail for the stack and a suction bore assigned to the stack table that exposes each bottom sheet to low pressure. This stationary support rail is formed between the adsorption channels open to the outside air at the end away from the conveyor roller. The slide plate has grooves that penetrate to the upper surface below the lower edge of the contact surface for the sheet to be sorted, the grooves being aligned with respect to the adsorption channel formed between the support rails. This causes the trailing edge of the next sheet to be conveyed to be pulled down while the lowermost sheet is sorted.

Similar devices are described in publications DE 26 50 438 C2, DE 30 23 157 A1, DE 32 237 C2 and DE 34 04 215 A1.

DE 34 41 479 A1 also discloses a vacuum actuated lifting device for air permeable flat objects of variable contour, in which a plurality of adsorption evenly distributed on the lower surface of the housing in a housing comprising an adsorption chamber. Spheres are provided, and each intake port is assigned a diverter valve, the diverter valve passing through the opening and closing the opening against the atmospheric pressure with a valve tappet protruding from the housing and a diverting piston connected to the valve member. And at the side of the piston away from the valve member, an atmospheric pressure is provided to its full diameter when the opening is closed and to a reduced diameter when the opening is open.

Similar devices with siphons are known from DE 37 10 994 A1, DE 39 23 672 A1 and DE 40 33 870 A1.

Each of the above known solutions has been developed for the needs and circumstances of a particular application, preferably but limitedly. Due to the low stiffness of the sheet-shaped electrodes or separators or sheet-shaped portions of the electrodes or separators which constitute the electrochemical energy storage device, the preferred technical doctrines in the field of paper processing are generally the electrodes and / or the components which constitute the electrochemical energy storage device. Or dedicated to the handling of the electrodes.

SUMMARY OF THE INVENTION The problem of the present invention is in particular for handling sheet-shaped objects, which provides advantages even in the handling of sheet-shaped objects having low stiffness consisting of electrode materials and / or separator materials in connection with the manufacture of electrochemical energy storage devices. To provide technical doctrine.

The problem is solved by a method for loading a sheet-shaped object or an assembly for implementing the method according to any one of the independent claims.

According to the present invention, a method is provided for stacking a sheet-like object in which a plurality of said objects are successively superimposed and temporarily individual or a plurality of objects are removed again from above. It is also proposed that the objects be offset with one another and / or rotated relative to one another.

A sheet-like object in this context is a flat object, preferably a thin flat object, ie a flat object, preferably having a dimension in a direction perpendicular to the surface thereof, generally smaller than the size of the minimum distance within the surface. Examples of sheet-shaped objects are in particular electrochemical materials such as, for example, electrode materials or separator materials, such as those used in the manufacture of electrochemical energy storage devices.

A plurality of said objects means that the number of objects in this regard is one or more.

Overlapping of the objects is in this connection forming and maintaining the assembly of the objects with which the surfaces of the objects are in contact. The surfaces of the object preferably lie substantially perpendicular to the direction of gravity. In the case where the objects are displaced or offset with respect to each other in a tangential direction with respect to the surface thereof, the objects are offset and overlap with each other in connection with the description of the present invention. When the objects are rotated and overlap with respect to each other about an axis perpendicular to the surface, the objects are rotated and overlapped. Offset, displacement or rotation processes may be arbitrarily combined in the superposition of sheet-shaped objects.

Preferably according to the invention, at least one object is removed by lifting. The object can preferably be lifted in a variety of ways, preferably by mechanical gripping of the object to be lifted or by electrostatic lifting means, or particularly preferably by a vacuum lifter. The lifting means may preferably be used to load objects into other objects, in particular offset from one another and / or rotated relative to one another.

A vacuum lifter is in this regard the external air pressure acting on the oppositely disposed side of the sheet and the sheet is pressed against the vacuum chamber (s) of the vacuum lifter such that the sheet-like object is at least locally adsorbed by low pressure Lifting means suitable for lifting shaped objects. The seat lifted by the supply and interruption of low pressure and / or by the supply of overpressure may be simply loaded.

Preferably, according to a preferred embodiment, it is proposed that at least one first object is fixed while at least one second object overlying at least one first object is removed. In connection with the description of the present invention, when gravity of the second object is transmitted to the first object, the second object is generally placed on the first object.

In a preferred embodiment of the present invention, at least one first object is pressurized from above to at least one point or portion of the object while at least one second object overlying the at least one first object is removed. It is proposed to be fixed by. Preferably at least one point or at least one portion of the object lies at the edge of the surface of the object. In particular, this embodiment of the present invention has proved to be desirable when the sheet-like object has a low stiffness, in particular lower rigidity than the sheet-like object made of paper, which is usually the electrode material or the membrane material constituting the electrochemical energy storage device. This is the case in.

Particularly preferably used objects are at least partially air permeable objects. The offset and / or rotated tooth decay according to the invention of the sheet-shaped object, in particular when the objects in the heat shape are simply adhered to each other by their material properties and the adhesive or tack associated therewith, or Particularly effective, reliable and simple classification of the sheet-shaped object is made possible, in particular when adsorbed together by a plurality of vacuum lifters, at least partially in the case of air permeability.

Also preferably, the at least one object is at least one electrode or separator or part of the electrode or separator which constitutes the electrochemical energy storage device.

Preferably, lifting means rotatable about a vertical axis and / or displaceable in a horizontal plane are used for the removal and / or loading of objects, said lifting means detecting the position of the object to be removed using an information technology method Aligned and / or positioned by Preferably the lifting means is a mechanical grip device, an electrostatic lifting means or a vacuum lifter. As a device for recognizing the position of the object to be removed, preferably all devices suitable for detecting the position of the object to be removed using an information technology method, preferably using a signal processing method and particularly preferably using a pattern recognition method, Is considered.

Actuating elements, preferably in the positioning and / or alignment of the lifting means rotatable about the vertical axis and / or displaceable in the horizontal plane by means of a device which recognizes the position of the object to be removed using an information technical method. Preferably the adsorption cup of the vacuum lifter is such that the actuating members of the lifting means are removed as well as possible, in particular covered by the surface of the sheet-like object to be lifted, and the actuating members of the lifting means are preferably different, in particular Aligned and / or positioned so as not to contact or actuate the sheet-shaped object to be lifted or removed.

In another or in the above-described embodiment of the invention it is preferably provided with at least one lifting device, particularly preferably a vacuum lifter, the lifting device being arranged rotatably about a vertical axis and / or displaceable in a horizontal plane. to be. The vertical axis is preferably substantially parallel to the direction of gravity and is thus arranged perpendicularly to the surface of the substantially stacked or raised object. The horizontal plane is preferably arranged perpendicular to the vertical axis.

This or another embodiment of the invention preferably comprises at least one blank holder, while at least one first object is removed from the blank holder while at least one second object overlying the at least one first object is removed. Is fixed at least. The blank holder is in this connection any device suitable for fixing the first object under the second object, i.e. preventing it from being lifted with the object lifted there by adhesive or adhesive forces. As the blank holder, a blank holder which is preferably operated by mechanical grip device, electrostatic support means or low pressure or vacuum is contemplated.

Preferably this or another embodiment of the present invention is such that when the vacuum lifter is moved horizontally relative to the stacked or placed object, it does not move at all or only in the vertical direction in the kinematic reference system of the vacuum lifter. A blank holder structurally connected to the vacuum lifter or other lifting ring means. Preferably the blank holder is rigidly connected to the vacuum lifter or other lifting means or between the blank holder and the vacuum lifter when the blank holder or other lifting means is moved horizontally relative to the stacked or placed object. Always connected so that relative movement is impossible.

Preferably at least one vacuum lifter comprises a plurality of pressure chambers. The pressure chambers may preferably be supplied with low pressure irrespective of one another. Particularly preferably the pressure chambers are arranged to be displaceable with each other horizontally. In this regard the advantage is that the position of the pressure chambers can be adjusted according to the shape of the sheet-shaped object.

Preferably the assembly according to the invention comprises an information technology device for recognizing the position of the object to be removed. Also preferably, the assembly according to the invention comprises an information technology device for alignment and / or positioning of the lifting means with reference to the position of the object to be removed, which is recognized by this or other information technology device. The information technology device for recognizing the position of the object to be removed is in this case preferably a camera.

In the following the invention is illustrated with reference to the preferred embodiments by the figures.

1 shows schematically a first assembly of a sheet-shaped object;
2 shows a second assembly of a sheet-shaped object;
3 shows a third assembly of a sheet-shaped object;
4 shows a first embodiment of an assembly according to the invention.
5 shows a second embodiment of an assembly according to the invention.
6 shows a third embodiment of an assembly according to the invention;
7 shows a fourth assembly of a sheet-shaped object;
8 illustrates a vacuum lifter according to a preferred embodiment of the present invention.

As schematically shown in FIG. 1, in this embodiment the sheet-shaped objects are offset from each other, but overlap each other so as not to rotate, so that the sheet-shaped second objects disposed below the sheet-shaped first object The edge or specific partial area is freely accessible. In the case where the uppermost sheet-like object 5 of FIG. 1 is lifted up, the sheet-like object 4 lying underneath it is fixed so that the sheet-like object 5 superimposed thereon can be prevented from being lifted together. have. At the same time, lifting of other sheet-shaped objects placed under it is prevented.

In order to fix the sheet-shaped object, in particular the sheet-shaped object 4, for example points 15a, 15b, 15c, 15d are provided, at which point a pressure is exerted by a mechanical blank holder, for example. Can be applied.

2 illustrates a situation similar to the example of sheet-shaped objects rotated and stacked with respect to each other. For fixing the underlying sheet-shaped object, in this case, for example, points 16a, 16b, 16c, 16d are provided.

3 shows a similar situation, in which case the sheet-shaped objects are rotated or displaced relative to one another and stacked. In this embodiment the points 14a, 14b, 14c, 14d are provided for fixing the underlying sheet-shaped objects.

4 shows a preferred embodiment of the assembly according to the invention, in which a lifting means 1, preferably a suction lifter with a suction cup 6 or a vacuum chamber 6, is mounted to the lifting device 2. The lifting means 1 can be lifted and / or lowered in the vertical direction 8 by the lifting device 2. In addition, in this example assembly shown in FIG. 4, the lifting means 1 can be offset or displaced in the horizontal direction or in the direction of the respective horizontal plane 10 or rotated about the vertical axis 9. . Due to this and / or by displacement of the vacuum chambers 6, the position of the vacuum chambers 6 is below which the vacuum chambers will adsorb and only lift the sheet-like object 5 to be lifted as much as possible. The object 4 placed on it can be adjusted to the shape and position of the sheet-like object 5 to be lifted so as not to adsorb as much as possible.

4 schematically shows a preferred embodiment of an assembly according to the invention comprising a low pressure lifter 1, ie lifting means, in which the external air pressure acts on the oppositely disposed side of the seat 5. The sheet is pressed against the vacuum chamber or the vacuum chambers 6 of the vacuum lifter 1 so that the sheet-shaped objects 4, 5 are at least locally adsorbed by low pressure, thereby lifting the sheet-shaped object. Suitable. By supplying and blocking the low pressure and / or by supplying the overpressure, the lifted sheet may be simply loaded. 4 shows the assembly according to the preferred embodiment in which at least one first object 4 is fixed while at least one second object 5 overlying at least one first object 4 is removed. .

The pressure may be from above the points 14a, 14b, 14c, 14d, 15a, 15b, 15c, 15d, 16a, 16b, 16c and / or of the object 4 shown in FIGS. 1, 2 and / or 3 from above. At least one point or part of 16d). Preferably at least one point or at least one portion of the object is disposed at the edge of the surface of the object. Particularly preferably used objects are at least partially air permeable objects. The offset and / or rotated loading of sheet-shaped objects, shown in FIG. 1, 2 or 3, is such that the objects are simply adhered to each other by their material properties and the adhesive or tack associated therewith, or When the objects are adsorbed together by a plurality of vacuum lifters 1, in particular when they are at least partly air permeable, it enables a particularly effective, reliable and simple classification of the sheet-shaped objects.

5 shows another preferred embodiment of the assembly according to the invention, in which the blank holder 3 is in the vertical plane 10 or at the time of rotation of the lifting means 1 about the vertical axis 9. Upon displacement of the lifting means 1 in parallel with respect to the object, the object (s) 4 which are preferably placed under the object 5 to be lifted are preferably the points 14a, shown in FIG. 1, 2 or 3. The blank holder (s) move together parallel to the horizontal plane 10 so that they are always fixed by the pressure on 14b, 14c, 14d, 15a, 15b, 15c, 15d, 16a, 16b, 16c and / or 16d. Is mounted to the lifting means 1 such that the rank holder (s) 3 move together along the lifting means 1. The turning point or joint 11 enables horizontal movement of the blank holder 3 in the direction 12. This point of rotation or joint 11 is preferably formed such that the blank holder (s) 3 can be moved even in the vertical direction 13, preferably independently of the lifting means 1.

Preferably, lifting means 1 rotatable about the vertical axis 9 and / or displaceable in the horizontal plane 10 are used for the removal and / or loading of objects, the lifting means using an information technical method. Alignment and / or positioning by the device 7 which recognizes the position of the object 5 to be removed. Preferably the lifting means is a mechanical grip device, an electrostatic lifting means or a vacuum lifter.

As a device 7 for recognizing the position of the object 5 to be removed, the position of the object to be removed is preferably determined using an information technology method, preferably using a signal processing method and particularly preferably using a pattern recognition method. All devices suitable for detection are contemplated.

The lifting means 1 rotatable about the vertical axis 9 shown in FIGS. 5 and 6 and / or displaceable in the horizontal plane shown in FIGS. When positioning and / or aligning by means of the device 7 for detecting the position of 5) the actuating elements 6 of the lifting means, preferably the suction cup 6 of the vacuum lifter 1, are preferably The operating members 6 of the lifting means are preferably particularly lifted or removed so that the actuating members 6 of the lifting means are covered as well as possible by the surface of the sheet-like object 5 to be removed, in particular to be lifted. It is aligned and / or positioned so as not to contact or actuate another object 4 under the sheet-like object 5 to be made.

6 shows another preferred embodiment of the assembly according to the invention, in which the information technology devices 7 are preferably mounted on the lifting means 1, by means of which the position of the sheet-shaped object 5 is arranged. Since it can be recognized, the lifting means 1 can be aligned according to the recognized position. The information technology devices 7 preferably comprise one or more cameras, which camera preferably records an image of the edge of the sheet-shaped object and uses the information technology method from the image to form the sheet-shaped object (s). Can be detected. Preferably a pattern recognition method is used, particularly preferably an edge detection method.

Edge detection is part of the segmentation attempting to separate flat areas from each other in a digital image during image processing. Several methods for automatic segmentation are known. Basically, they are usually classified into pixel-, edge- and region-based methods. In addition, it is divided into a model-based method assuming a specific shape and object and a texture-based method considering the uniform internal structure of the object.

The boundary between the methods is fluid. In addition, various methods may be combined to achieve improved results.

So-called edge operators detect transitions between the regions upon edge detection. The transition is marked as an edge. Alternatively, however, the individual areas are also recognized as edges, and one edge is not separated into two parts by a good edge detector. The edge detector calculates the corresponding edge image from which all edges appear correspondingly. To achieve this, each pixel is newly set by operation by a matrix.

In an edge-based method for segmentation of digital images, an image is examined for edge or object transitions in the image. Many algorithms do not present closed edge sequences. That is, the algorithm must be combined with other methods to include the object. However, this is usually not necessary for the positioning of sheet-like objects of known type. The edges mostly lie between the pixel areas of the image. The result of the algorithm may be a polygon (or line), but most operations present edges as pixels of a different color. Pixels corresponding to edges may be detected by methods such as the Sobel operator and the Laplace operator, and by the gradient search. However, the methods are still unstable and must be complemented by an edge tracking algorithm. A general method of forming a relevant object silhouette or at least one edge sequence from an edge pixel is found in the founder of E. Mortensen, W.A. Live-Wire method of Barrett and J. K. Udupa. The concept can be clearly explained in comparison with a navigation system that detects the optimal route from the starting position to the target position. Optimally, with respect to segmentation, means that the distance between the starting point and the target point is always guided by the strongest edge pixel. Optimal path selection is thus a fundamental task in computational science and can be solved, for example, by breadth-first search.

A very well known method is the branch point transformation, which works with grayscale images and always presents closed edge sequences. Other methods are simultaneous and sequential edge extraction, optimal edge search, Felzenszwalb-Huttenlocher method, Active Shape Model, and active contour model.

In the embodiment of the invention shown in FIGS. 4, 5 and 6, at least one lifting means 1, particularly preferably a vacuum lifter 1, is provided, which lifter is perpendicular to the lifting device 2. It is arranged rotatably about the axis 9 and / or displaceably in the horizontal plane 10. In this case the vertical axis 9 is preferably substantially parallel to the direction of gravity and thus disposed substantially perpendicular to the surface of the object which is substantially stacked or raised. The horizontal plane 10 is preferably arranged perpendicular to the vertical axis 9.

These or other embodiments of the invention preferably comprise at least one blank holder 3 and at least one while the at least one second object 5 overlying the at least one first object 4 is removed. The first object 4 of is fixed by the holder. As the blank holder 3, a mechanical grip device, an electrostatic support device or a blank holder operating at low pressure or vacuum is contemplated.

The embodiment of the invention shown in FIG. 5 comprises a blank holder 3, which blank holder, when the vacuum lifter 1 is moved in the horizontal direction relative to the object on which it is placed or placed, is a vacuum lifter. It is structurally connected to the vacuum lifter 1 or other lifting means such that it is not moved in the kinematic reference system of or only at most in the vertical direction. As shown in FIG. 5, the blank holder 3 is preferably rigidly connected to the vacuum lifter 1 or to another lifting device, or in any case with a vacuum lifter or other lifting means loaded or disposed. When moved horizontally with respect to the object, the relative movement between the blank holder and the vacuum lifter is connected so as to be impossible.

Preferably-as shown in FIGS. 4, 5 and 6-at least one vacuum lifter 1 has a plurality of pressure chambers 6. The pressure chambers 6 may preferably be provided with low pressure irrespective of one another. Particularly preferably the pressure chambers are arranged displaceably from one another in the horizontal direction 10. This provides the advantage that the position of the pressure chambers can be adjusted to the shape of the sheet-shaped object.

As shown in FIG. 6, a preferred embodiment of the assembly according to the invention comprises an information technology device 7 for position recognition of the object 5 to be removed. Also preferably, the assembly according to the invention comprises an information technology device for alignment and / or positioning of the lifting means with reference to the position of the object to be removed, which is recognized by said or other information technology device. The information technology apparatus for recognizing the position of the object to be removed preferably comprises a camera 7 in this case.

As shown in FIG. 7, the sheet-shaped objects 4, 5 are preferably rotated relative to each other, particularly preferably rotated relative to one another or rotated relative to one another by an angle of about 26 degrees. The two stacks are alternately stacked individually or in groups. In this case the end or edge of the sheet-shaped objects can be fixed against unintended rotation or offset by the limiting members 17, 18. The limiting members 17, 18 may preferably support a suitable stack of sheet-like members, so that a predetermined positional deviation can be kept as small as possible.

As shown in FIG. 8 with reference to a preferred embodiment of a vacuum lifter or vacuum gripper for use in connection with an assembly according to the invention, the vacuum lifter 1 preferably has a plurality of pressures, each having a vacuum port 20. Chambers 6. Since the vacuum ports of the vacuum chamber are preferably independent of each other, gripping errors of the vacuum lifter under pressure drop can be avoided as much as possible. The vacuum lifter preferably has a groove 19 near the edge, in which the sealing strip can be installed or is installed. The vacuum lifter preferably comprises a plurality of blank holders 3, which are preferably formed as spring blank holders 3 in the embodiment shown in FIG. 8. Since the working point of the blank holder is preferably as close to the edge of the vacuum gripper 1 as possible, unwanted bending of the sheet-like object when lifting by the vacuum gripper can be prevented.

In the case where the sheet-shaped objects are separator sheets or electrodes for forming a galvanic cell, the vacuum lifter is preferably operated at a low pressure of 0.7 bar. In this case, a force of 18 N in total is preferably applied to the sheet-shaped object to be fixed by the blank holder.

To be sure, the present invention is not limited to the use in which the individual sheet-shaped objects are lifted or stacked. In the manufacture of electrochemical energy storage devices, in particular galvanic cells, sheet-like objects of different types and / or compositions, preferably the electrodes and / or separator sheets, are the same together, or the electrodes are not first deposited after the electrodes are first lifted up. Preference is given to embodiments of the invention in which the separator sheet is lifted or stacked in such a way that the membrane sheet is lifted or lifted in reverse order, ie, the membrane sheet is first lifted and then the electrode is lifted. The separator sheet is usually gas permeable, in particular air permeable. A ring gap is preferably arranged around the anode, preferably having a width of about 2 mm. Cut separator sheets are usually larger than the electrodes. Therefore, the present invention can certainly be applied to sheet-shaped objects of various sizes or shapes.

Features of all the above-described embodiments or the embodiments shown in the drawings may be combined with each other.

1 vacuum lifter
3 blank holder
4, 5 objects
6 pressure chamber
9 vertical axis
10 horizontal planes

Claims (15)

A method for loading electrodes and / or separators or parts of the electrodes or separators for stacking sheet-shaped objects, in particular for constituting an electrochemical energy storage device, wherein the plurality of objects 4, 5 are individually In a method in which successively individual or multiple objects are removed from above again, overlapping successively or in groups,
And the objects (4, 5) are offset from one another and / or rotated relative to one another and overlapping. Method according to claim 1, characterized in that at least one object (5) is removed by lifting. The method according to claim 2, characterized in that the at least one object (5) is removed by at least one vacuum lifter (1) and / or arranged on at least one other object. Way. 4. The at least one first object 4 according to claim 1, wherein the at least one first object 4 is removed while the at least one second object 5 overlying the at least one first object 4 is removed. A method for loading a sheet-shaped object characterized in that it is fixed. 5. The at least one first object (4) according to claim 4, wherein the at least one first object (4) is removed while the at least one second object (5) lying on the at least one first object (4) is removed. A method for depositing a sheet-shaped object characterized in that it is fixed by applying pressure from above at a point or part. Method according to one of the preceding claims, characterized in that at least one object (4, 5) is at least partly air permeable. The sheet according to claim 1, wherein the at least one object 4, 5 is an electrode or separator or part of the electrode or separator that constitutes an electrochemical energy storage device. Method for loading objects of shape. The lifting means (1) according to any one of the preceding claims, wherein a lifting means (1) rotatable about the vertical axis and / or displaceable in the horizontal plane is used for removing and / or loading the objects (5). The lifting means are arranged and / or positioned by an apparatus which recognizes the position of the object to be removed (5) using an information technology method. An assembly for carrying out the method according to any one of claims 1 to 8, wherein
An assembly characterized in that the lifting device (2) is provided with at least one lifting means (1), preferably a vacuum lifter, rotatably disposed about a vertical axis and / or displaceably in a horizontal plane. 10. At least one blank holder according to claim 9, wherein said at least one first object (4) is fixed while said at least one second object (5) lying on at least one first object (4) is removed. And (3) provided. The kinematics of the lifting means according to claim 10, wherein the at least one blank holder (3) is moved horizontally with respect to the objects (4, 5) on which the lifting means (1) are placed or arranged. An assembly characterized in that it is structurally connected to the lifting means (1) such that it is not moved in the reference system or at most only in the vertical direction. 12. The assembly according to any one of claims 9 to 11, wherein said at least one lifting means (1) comprises a plurality of pressure chambers (6). The assembly according to claim 9, wherein an information technology device is provided for detecting the position of the object to be removed. 14. An information technology device according to claim 13, characterized in that an information technology device is provided for aligning and / or positioning the lifting means 1 with reference to the location of the object 5 to be removed, which is recognized by said or other information technology device. Assembly made. The assembly according to claim 13 or 14, characterized in that the information technology device for recognizing the position of the object (5) to be removed comprises a camera (7).

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