WO2016198248A1 - Method and device for handling individual intermediate layers - Google Patents

Abstract

The invention relates to a device (1) and a method for handling individual intermediate layers (5). The device (1) comprises at least one manipulator (11) for separating an individual intermediate layer (5) from an intermediate layer stack (7) and transporting the intermediate layer (5) to a destination (ZO). Furthermore, at least one sensor system (16) is provided by means of which a rotational position of the individual intermediate layer (5) can be detected. Additionally, a controller (S) is provided which is connected to the at least one manipulator (11) and the at least one sensor system (16). A movement of the intermediate layer (5) by means of the at least one manipulator (11) can be specified by the controller (S) while taking into consideration the detected rotational position such that the intermediate layer (5) reaches the destination (ZO) in a specified rotational orientation.

Description

 Method and device for handling with individual

 liners

The present invention relates to a method and an apparatus for the

Handling individual liners.

Automated palletizing devices are already known from the prior art, which arrange a plurality of articles on a pallet and finally wrap the articles of the respective pallet by means of stretch 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, such that multi-layer stacking does not always have problems associated with the stability of the entire sheet

Pallet composition is possible. In particular, during transport of the pallet, it is necessary to be able to ensure a certain stability for the pallet assembly in order to exclude tilting of the respective articles 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. Due to their rigidity, a stable contact surface for stacked article layers is provided in each case by means of the intermediate layers. It may also be that for a plane of the pallet a plurality of intermediate layers are provided or that a plane of the pallet is formed by a plurality of intermediate layers on which the articles stand up. 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 or to separate the intermediate layers. 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.

For example, such a device discloses DE 10 2004 031 301 A1. In the device of the DE patent application is a stack of intermediate layers for

 Provided and added via a gripper with suction cups. Subsequently, the intermediate layer is lifted by the gripper and deposited on the respective pallet. After settling the gripper is moved back to the next

To pick up the intermediate layer. Practice has shown that individual layers of the stack can be twisted on each other or in particular after several successive decreases individual layers of the stack are no longer completely aligned with each other. If the intermediate layer is then placed on the pallet, then its position can not coincide exactly with a desired position provided for the respective intermediate layer, since the respective gripper follows a specific and uniform trajectory until the intermediate layer is deposited on the pallet. It may also be that the intermediate layer is rotated by the gripper or not exactly received, which is also accompanied by an inaccurate positioning on the respective pallet. Also, a complete stack of stacks may be inaccurately positioned such that the gripper receives and settles on a single layer

 Trajectory follows, the individual situation inaccurately settles on the pallet. Pallets in which the intermediate layers are inaccurately positioned may tend to be unstable.

An object of the present invention can therefore be seen to provide a method and an apparatus which contribute to the accurate positioning of intermediate layers on associated pallets. The device should also have a simple structure. Next, the process should be easy to implement. The above objects are achieved by an apparatus and a method comprising the features in claims 1 and 7. Further advantageous embodiments are described by the subclaims.

The invention relates to a device for handling individual layers of an intermediate layer stack. The apparatus includes at least one manipulator for severing a single liner from the liner stack and transferring the liner to a destination.

It is conceivable here that the at least one manipulator comprises one or more movable suction and / or gripping device for separating individual intermediate layers from the intermediate layer stack. The one or more movable suction and / or gripping device can in individual embodiments separate individual intermediate layers from the intermediate layer stack and move them in the direction of a transfer station, from which the intermediate layers can be described below

Handling device to be received. The handling device can transfer the liners to the destination after receiving.

At the destination or in the region of the destination, a pallet can be arranged, on which the at least one manipulator or the handling device

Can put liners. The one or more movable suction and / or gripping devices may comprise clamping elements in conceivable embodiments, which grip the intermediate layer already separated from the intermediate layer stack and then optionally pull in the direction of the transfer station. Here, the one or more movable suction and / or gripping devices or the clamping elements can perform a linear movement.

Furthermore, the device comprises at least one sensor via which a rotational position of the individual intermediate layer can be detected. The at least one sensor system may comprise, for example, a camera system in order to optically recognize the rotational position of the individual intermediate layer. A detection range of the at least one sensor system may be positioned in preferred embodiments such that individual intermediate layers cover the detection area during its transfer from the

Intermediate stacks pass to the destination. It is also conceivable that the

Detection of the at least one sensor at least partially over the

Interlayer stack extends so that a rotational position of a not yet or not completely separated from the intermediate layer stack interlayer on the at least a sensor can be detected. However, they have proven themselves in practice

Embodiments in which the detection range of the at least one sensor system is positioned such that a rotational position of an intermediate layer completely separated from the interlayer stack can be detected via the at least one sensor system. The device also comprises a control device, which is in communication with the at least one manipulator and the at least one sensor, wherein by the controller means a movement of the intermediate layer on the at least one manipulator taking into account the detected rotational position can be predetermined such that the intermediate layer with the destination a predetermined one

Dreorien orientation achieved.

After detecting the rotational position of an intermediate layer on the at least one sensor, the control device can check whether the rotational position of a

corresponds to predetermined target orientation. If this is the case, the

Control device, the at least one manipulator for transferring the

Move liner to destination without alignment correction. If the rotational position of an intermediate layer deviates from a predetermined desired orientation, the control device can control the at least one manipulator in such a way that the at least one manipulator moves the intermediate layer to the destination with a

Orientation correction transferred, in which alignment correction a deviation of the detected rotational position is taken into account by a target orientation. In this way, the intermediate layer can reach the destination with a predetermined rotational orientation and, if appropriate, be deposited with a predetermined rotational orientation on a pallet. Since an intermediate layer with exact rotational orientation is transferred to a destination or deposited on a pallet by means of the device according to the invention, which has under

With the aid of the device according to the invention producible range with the stacked on her articles a very high stability.

In practice, it may also be that an intermediate layer stack is inaccurate or positioned such that all intermediate layers of the intermediate layer stack have a rotational orientation that deviates from a predetermined desired orientation. In this case, for all intermediate layers of the intermediate layer stack, if necessary, an alignment correction can take place via a movement of the at least one manipulator such that all intermediate layers of the intermediate layer stack reach the destination with a predetermined rotational orientation. It is also conceivable that the at least one sensor system comprises one or more light barriers. The one or more light barriers may comprise at least one receiver and at least one laser transmitter. The transmitter can emit a beam of light in the vertical direction. The intermediate layer can enter the light beam with its leading edge projecting in the direction of movement or guidance or interrupt the light beam. For this reason, a detection region of the at least one sensor system can be positioned such that the intermediate layer during its movement or guidance first with its leading edge in the

Detection area of at least one sensor passes. The control device can now, with the aid of the at least one sensor, the rotational position or

Determine the rotational position of the intermediate layer. In order for the intermediate layer to reach its destination with a predetermined rotational orientation, it is possible, as already mentioned above, to effect an alignment correction via the at least one manipulator, provided that the rotational position does not coincide with a data stored on the control device

Control device predetermined target orientation for the intermediate layer

matches.

Furthermore, embodiments have proved successful, in which the at least one sensor system comprises at least one first, preferably optical, sensor and at least one second, preferably optical sensor, which can be in operative connection with each other for detecting the rotational position. The at least one first preferably optical sensor and / or the at least one second preferably optical sensor can furthermore be designed as light barriers. In addition, the at least one first preferably optical sensor and the at least one second preferably optical sensor can be positioned such that they each have one in one

Movement direction of the intermediate layer vorseilende leading edge of the intermediate layer can register. The movement direction can be designed such that at least one component points in the direction of the destination location and / or in the direction of the sensor system.

Furthermore, the detection regions of the at least one first preferably optical sensor and the at least one second preferably optical sensor can be offset relative to one another at least proportionally obliquely relative to the direction of movement of the intermediate layer. It is conceivable here that the detection ranges of the at least one first preferably optical sensor and the at least one second preferably optical sensor do not overlap or overlap only in certain regions. The at least one first preferably optical sensor and the at least one second Preferably, optical sensor can therefore obliquely to the movement or

Guiding direction of the respective intermediate layer may be positioned adjacent to each other. In this way, a control device, which is in communication with the at least one first preferably optical sensor and the at least one second preferably optical sensor, detect the course or the orientation of the front edge of a respective intermediate layer and thereby determine the rotational position of a respective intermediate layer. Embodiments in which the at least one sensor system comprises a plurality or at least two sensors have proven to be able to detect the rotational position of an intermediate layer as accurately as possible in a simple manner. Further, embodiments have proven in which the at least one

Manipulator at least one handling device with at least one suction and / or gripping head for receiving the intermediate layer and transferring the

Has intermediate layer to the destination. In this case, the suction and / or gripping head can be rotatable or rotatable about a vertical axis extending through the suction and / or gripping head. An intermediate layer can by means of a rotation of the suction and / or

 Gripping head are rotated. If a rotational orientation of an intermediate layer deviates from a predetermined target orientation, the suction and / or gripping head can align the intermediate layer by defined rotation in such a way that the intermediate layer reaches the destination with a specific rotational orientation. It is conceivable, for example, that the suction and / or gripping head can fix intermediate layers pneumatically or by negative pressure. After transfer of the intermediate layer to its destination or after discontinuation of

Interposed on a pallet, the negative pressure can be removed and the at least one manipulator or the suction and / or gripping head another

Take the intermediate layer and, if necessary, turn it around a vertical axis. It is also conceivable that the at least one handling device a

Boom has, at the free end of the suction and / or gripping head

is arranged, wherein the boom can be pivoted about a vertical axis in order to transfer the intermediate layer to its destination. In particular, the boom can be guided horizontally in a pivoting movement. The invention also relates to a method for dealing with individual

Liners of a stack of liners. Features that have been previously mentioned to conceivable embodiments of the device according to the invention may also be provided in various embodiments of the method described below. Further, features of various embodiments of the hereinafter described method may be provided in conceivable embodiments of a device according to the invention.

In the process, a single liner of one

Separator stack separated and transferred to a destination. At the destination, a pallet may be arranged or the destination may be formed by a pallet on which the respective intermediate layer is discontinued in order to stack articles on the intermediate layer. Temporally before complete transfer to the destination, the intermediate layer reaches a detection area of at least one sensor system. A rotational position of the intermediate layer is detected by the at least one sensor. For example, it may be that a rotational position of an intermediate layer is detected when an intermediate layer is still in contact with an intermediate layer stack or resting on an interlayer stack. This can be one or more

Camera systems are positioned in the region of the respective intermediate layer stack to detect a rotational position of the intermediate layer. As described below, in preferred embodiments, a rotational position of an intermediate layer can be detected during a movement of the intermediate layer in the direction of the destination. The

In this case, the intermediate layer may possibly already be completely pulled off or separated from the respective intermediate layer stack.

For a further method step, which follows the detection of the rotational position in time, a defined movement of the intermediate layer in the direction of the destination is provided, taking into account the detected rotational position, so that the intermediate layer reaches the destination with a predetermined rotational orientation.

If, upon detection of the rotational position, it may be ascertained that an actual rotational position deviates from a desired rotational position, an alignment correction may take place within the scope of the determined movement in order to obtain a predetermined rotational orientation for the rotational movement

 To achieve intermediate position at the destination. If it is determined on detection of the rotational position, if necessary, that an actual rotational position coincides with a desired rotational position, the

Liner be moved without alignment correction in the direction of the destination, wherein the intermediate layer at the destination has the predetermined rotational orientation. It can further be provided that the intermediate layer is guided over its front edge into a detection region of the at least one sensor system, wherein the at least one sensor system optically registers a front edge of the intermediate layer. The front edge can with two outer edges and an opposite rear edge of the Form the circumferential course of the intermediate layer and possibly the back edge in one

Advancing direction of movement of the intermediate layer. It makes sense that the

Intermediate layer therefore be moved with optical registration of the leading edge.

Furthermore, it can be provided that the at least one sensor system for detecting the leading edge emits a laser beam, which the leading edge of the intermediate layer passes before reaching the destination.

Also, the leading edge of the intermediate layer for detecting the rotational position in a detection range of at least one first sensor and in a

Detection range of at least one second sensor are guided, wherein the detection range of the at least one first sensor and the detection range of the at least one second sensor are offset from each other obliquely to a direction of movement of the intermediate layer. The at least one first sensor and / or the at least one second sensor may preferably be the leading edge of the intermediate layer

Optionally register embodiments and thus optionally be designed as a light barrier, which emit a laser beam.

Furthermore, it may be that the intermediate layer, starting with the separation from the stack of intermediate layers, is moved without interruption until it detects its rotational position. In particular, the intermediate layer may begin with the separation from

Stacks of stacks are moved without interruption until the intermediate layer reaches a previously described transfer point. From there, the

 Intermediate be accepted via a handling device and continue to the destination, which reaches the intermediate layer by defined movement by means of the handling device with a predetermined rotational orientation. For the defined movement, the handling device can be connected to a control device. It is clear to the person skilled in the art that the movement of the intermediate layer can take place continuously or uninterruptedly in further conceivable embodiments, starting with its separation from the interlayer stack to complete transfer to the destination.

In addition, it may be that the intermediate layer is rotated starting from the separation of the stack of stacks or for the defined movement of the intermediate layer in the direction of the destination about a vertical axis, which vertical axis through the

Interlayer runs. By turning around the vertical axis, the intermediate layer can be aligned, so that the intermediate layer the destination with certain Dreorien orientation achieved. The rotation about the vertical axis can be further effected by means of the handling device and possibly via the control device under

Considering the detected rotational position can be specified.

In conceivable embodiments, the intermediate layer may be received by a suction and / or gripping head of a handling device, which is arranged on a free end region of a boom. In order to transfer the intermediate layer to its destination after receipt, the boom can, together with the intermediate layer and the suction and / or gripping head about a vertical axis,

for example, be rotated by an angle of 90 °. The suction and / or gripping head can be rotated about the already described vertical axis, which possibly passes through the suction and / or gripping head, to transfer the intermediate layer with a predetermined rotational orientation by means of the handling device to the destination.

Further, it may be that turning about a vertical axis and the

Panning about a vertical axis are superimposed in time. Also have themselves

Proven embodiments in which the rotation about the vertical axis and the pivoting about the vertical axis take place in opposite directions. As a result, liners can be deposited easily and time-optimized on the respective pallet or transferred to the destination with a predetermined rotational orientation.

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.

FIG. 1 shows a schematic view of a first embodiment of a device according to the invention and illustrates steps as they are conceivable

Embodiments of a method according to the invention may be present;

FIG. 2 shows the device from FIG. 1, with clarification of further aspects and steps, as may be present in conceivable embodiments of a method according to the invention; FIG. 3 shows the device from FIGS. 1 and 2, illustrating further aspects and steps as may be present in conceivable embodiments of a method according to the invention; FIG. 4 shows in the flow chart individual steps as they may be present in an implementation of the method according to the invention;

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 invention may be configured and are not an exhaustive limitation.

FIG. 1 shows a schematic view of a first embodiment of a device 1 according to the invention and illustrates steps as they may be in conceivable embodiments of a method according to the invention. The

Device 1 is provided for handling individual intermediate layers 5 of a

Interlayer stack 7. In Figure 1, the top layer 5 positioned on the intermediate layer stack 7 is not flush or twisted on the interlayer stack 7. Rear, front and side of the intermediate layer stack 7 is the top position on the intermediate layer stack 7 intermediate layer 5 from the stack of layers 7 via.

In order to transfer the intermediate layer 5 to the destination ZO, the device 1 has a plurality of manipulators 1 1. In FIG. 1, only one manipulator 11 is shown, which is designed as a handling device 13. At least one further manipulator or a suction and gripping device is also provided, which is not shown in the figures of the present patent application. The further manipulator or the suction and gripping device receives intermediate layers 5 from the intermediate layer stack 7 via negative pressure and separates or pulls the respective intermediate layer 5 from

Interlayer stack 7 from. A direction of movement of the intermediate layer 5 and of the further manipulator or of the suction and / or gripping device is by means of

Arrow depiction and indicated by reference numeral 15. A component (not shown) of the direction of movement 15 is oriented in the direction of the destination ZO.

Embodiments have also proven to be advantageous in which in the linear direction or in the direction of movement 15 movable terminal strips a respective of the

Interleaf stack 7 separated intermediate layer 5 of the suction and / or

Receive gripping device and settle on a transfer station. From there, the respective intermediate layer 5 then by means of the manipulator 11 and der

Handling device 13, as described below, taken and placed on a pallet. The intermediate layers 5 of the intermediate layer stack 7 illustrated in FIG. 1 each provide a complete plane of a pallet on which articles can be stacked. It should also be mentioned that, for conceivable embodiments, several of the intermediate layers 5 can jointly provide a plane of a pallet on which articles are stacked. The intermediate layers 5 may be formed here as half layers.

If all intermediate layers 5 of the intermediate layer stack 7 were transferred to the destination ZO with a uniform trajectory, then the twisted or

Inaccurate orientation of the intermediate layers 5 of the intermediate layer stack 7 at the destination ZO or on the pallet continue to exist. However, such pallets tend to

 Instabilities, provided that the rotational orientation of spacers 5 on the pallet deviates from a predetermined rotational orientation. With highly twisted or inhomogeneous and non-flush superposed layers 5 of the intermediate layer stack 7 therefore problems in palletizing can go along. As described below, the device 1 can avoid such problems.

After removing the liner 5 from the stack of layers 7 is the

For this purpose, the intermediate layer 5 is guided into the detection area of a sensor system 16, which in the present case comprises a first sensor 17 and a second sensor 19. Both the first sensor 17 and the second sensor 19 are designed as optical sensors or as light barriers and emit in each case a laser beam in the vertical direction downwards. The movement of the intermediate layer 5 in the direction of the sensor system 16 or in the direction of the first sensor 17 and the second sensor 19 takes place in such a way that the intermediate layer 5 first reaches the detection area of the respective sensor 17 or 19 with its front edge 21. As can be seen in FIG. 1, the intermediate layer 5 is already completely separated from the intermediate layer stack 7 and is continuously moved until its front edge 21 enters the detection range of the first sensor 17 and the second sensor 19. The movement of the intermediate layer 5 in the direction of the first sensor 17 and the second sensor 19 takes place in the direction of movement 15, linear and until then without alignment correction, so that the intermediate layer 5 their relative rotational position relative to the intermediate layer stack 7 even at the entrance of its leading edge 21 in the detection areas of first sensor 16 and the second sensor 19 further comprises.

The first sensor 17 and the second sensor 19 or the detection ranges of the first sensor 17 and the second sensor 19 are oblique to the direction of movement 15 the intermediate layer 5 is offset, so that the intermediate layer 5, with its front edge 21 leading in the direction of movement 15, first enters into the detection range of the first sensor 17 and then into the detection range of the second sensor 19. Since the position of the sensor system 16 or of the first sensor 17 and of the second sensor 19 is known, the control device S, which is in communication with the sensor system 16 or with the first sensor 17 and the second sensor 19, can enter at the leading edge 21 of a respective intermediate layer 5 in the detection areas of the first sensor 17 and the second sensor 19 determine a rotational position or orientation of the intermediate layer 5. The sensors 17 and 19 are in this case positioned such that a rotational position or

Orientation of the respective intermediate layer 5 at time-synchronous or at least approximately time-synchronous detection of its front edge 21 via the sensors 17 and 19 corresponds to a desired rotational position or target orientation. Such a transfer of an intermediate layer 5 to the destination ZO without alignment correction will be described below with reference to FIG.

If the front edge 21 of the intermediate layer 5, as shown in Figure 1, via the sensors 17 and 19 is not detected time-synchronized or delayed, the

Control device S determine a rotational position or orientation of the intermediate layer 5, which deviates from a desired rotational position or target orientation. About the amount of the time offset of the control device S is still the deviation of the rotational position or orientation of the intermediate layer 5 of the predetermined target rotational position or target orientation known so that they by means of the manipulator 11 and the

Handling device 13 can perform an alignment correction.

Time after entry of the leading edge 21 of the intermediate layer 5 in the

Detection ranges of the sensors 17 and 19, the intermediate layer 5 is further moved linearly and in the direction of movement 15 and deposited on a transfer point, not shown. An alignment correction of the intermediate layer 5 does not take place until the intermediate layer 5 is deposited at the transfer station, so that the intermediate layer 5 still has its relative rotational position formed on the intermediate layer stack 7. A movement of the intermediate layer 5 takes place until reaching the transfer station continuously or

interruption-free, but can also be carried out discontinuously or with one or more interruptions in other embodiments. The manipulator 1 1 and the handling device 13 has a boom 9, at the free end region of a suction and / or gripping head 6 is arranged. The boom 9 can be pivoted together with the suction and / or gripping head 6 about a vertical axis, which is oriented in Figure 1 in the direction of the image plane. The

Pivoting movement is indicated in Figure 1 by means of arrow. In addition, two position of the boom 9 and the suction and / or gripping head 6 are shown, which are offset from each other by 90 °. The pivotal movement of the boom 9 about the vertical axis is horizontal.

From the previously mentioned transfer point, the manipulator 1 1 or the handling device 13 receives the intermediate layer 5 via the suction and / or gripping head 6, which fixes the intermediate layer 5 via negative pressure. Since the intermediate layer 5 was not rotated until it was received by the manipulator 11 or the handling device 13 and guided only linearly in the direction of movement 15, the rotational position or orientation of the intermediate layer 5 until it is accepted via the manipulator 11 or the handling device 13 unchanged.

About the suction and / or gripping head 6 of the manipulator 11 and der

Handling device 13, the intermediate layer 5 can be rotated about a vertical axis, which is oriented in Figure 1 in the direction of the image plane and passes through the suction and / or gripping head 6. Since the front edge 21 of the intermediate layer 5 has been registered via the sensors 17 and 19 and the control device S the

 When the rotational position of the intermediate layer 5 is known via the manipulator 11 or the handling device 13, the control device S can move the intermediate layer 5 via the manipulator 11 or the handling device 13 such that the intermediate layer 5 reaches the target location ZO with a predetermined rotational orientation.

A synopsis of the two position positions of the boom 9 shown in Figure 1 with the suction and / or gripping head 6 can be seen here that the

Liner 5 when transferred to the destination ZO pivoted both about the vertical axis and about the vertical axis which passes through the suction and / or gripping head 6, is rotated. The pivoting of the arm 9 together with the suction and / or gripping head 6 and the suction and / or gripping head 6 fixed intermediate layer 5 and the rotation of the intermediate layer 5 about the vertical axis which passes through the suction and / or gripping head 6 , are temporally superimposed and oriented in opposite directions. The amount by which the intermediate layer 5 is pivoted about the vertical axis which passes through the suction and / or gripping head 6, gives the

Control device S before. Since the control device S, the rotational position or

Orientation of the intermediate layer 5 upon receipt by the manipulator 1 1 and the handling device 13 is known, the pivoting movement of the intermediate layer 5 can take place around the extending through the suction and / or gripping head 6 vertical axis such that the intermediate layer 5 with the destination ZO a predetermined one

Drehorient orientation achieved and thus can be positioned exactly on a pallet. Thus, with the aid of the device 1, very stable pallets with a large number of articles, such as beverage containers, can be formed.

FIG. 2 shows the device 1 from FIG. 1 clarifying further aspects and steps. The top layer 5 positioned on the intermediate layer stack 5 is oriented flush with the further intermediate layers 5 of the intermediate layer stack 7. As previously described with reference to FIG. 1, the intermediate layer 5 is pulled off the intermediate layer stack 7, the intermediate layer 5 subsequently being inserted with its front edge into the

Detection range of a first sensor 17 and enters the detection range of a second sensor 19. The rotational position or orientation of the uppermost on the

Interlayer stack 7 positioned intermediate layer 5 is consistent with a desired orientation or target rotational position. If the liner 5 is now linear or in

Moving direction 15 led away from the stack of stacks 7, the intermediate layer 5 enters with its front edge 21 at the same time or at least approximately simultaneously in the detection ranges of the sensors 17 and 19 and is registered by them.

Since the sensors 17 and 19 continue with the control device S in

Connection can be, the control device S due to the simultaneous or at least approximately simultaneous registration of the leading edge 21 a

 Match the orientation or rotational position with a desired orientation or setpoint rotational position. After receiving the intermediate layer 5 via the manipulator 11 and the handling device 13, the manipulator 11 or the

Handling device 13 cause no alignment correction for the intermediate layer 5 in order to transfer the intermediate layer 5 with a predetermined rotational orientation to the destination ZO. Thus, the suction and / or gripping head 6 is rotated together with the intermediate layer 5 by a certain amount and in this case by 90 ° about a vertical and extending through the suction and / or gripping head 6 axis to the relative rotational orientation of the intermediate layer 5 during transfer to maintain the destination ZO. At the same time and in the opposite direction of the boom 9 is pivoted horizontally to the intermediate layer 5 after receipt by the suction and / or greyhead 6 to the destination ZO to convict. At the destination ZO, the intermediate layer 5 has a predetermined

Rotary orientation, so that with the aid of the device 1 stable pallets can be formed. FIG. 3 shows the device 1 from FIGS. 1 and 2 clarifying further aspects and steps. The intermediate layer stack 7 is positioned in FIG. 3 with all intermediate layers 5 such that a rotational position or orientation of all intermediate layers 5 of the intermediate layer stack 7 does not coincide with a predetermined desired rotational position or desired orientation. Is the intermediate layer 5 deducted from the stack of layers 7, the

 Intermediate layer 5 guided in the detection areas of the sensors 17 and 19, which register a front edge 21 of the intermediate layer 5. Analogously to the embodiment from FIG. 1, the sensors 17 and 19 register the leading edge 21 of the intermediate layer 5 with a time offset, whereby the control device S determines that the rotational position or orientation of the intermediate layer 5 does not coincide with a desired rotational position or desired orientation.

The further movement of the intermediate layer 5 in the direction of a transfer point, not shown in FIG. 3, takes place linearly or in the direction of movement 15, wherein the intermediate layer 5 retains its rotational position or wherein the intermediate layer 5 does not undergo alignment correction until then.

As in the embodiment of Figure 1, the manipulator 11 and the handling device 13, the intermediate layer 5 via the suction and / or gripping head 6, which is arranged at a distal free end portion of the boom 9, via

Negative pressure. The manipulator 1 1 or the handling device 13 can rotate the intermediate layer 5 after acceptance about a vertical axis, which passes through the intermediate layer 5 and through the suction and / or gripping head 6 and is oriented in Figure 3 in the direction of the image plane. The rotation is effected via the control device S such that the intermediate layer 5 on reaching or at full

Transfer to the destination ZO has a predetermined rotational orientation. to

Transfer of the intermediate layer 5 to the destination ZO of the boom 9 is pivoted horizontally and about an oriented in the direction of the image plane vertical axis. Two positional positions of the cantilever 9 and of the suction and / or gripping head 6 which can be produced by means of pivoting are also shown in FIG. A pivoting movement of the boom 9, the suction and / or gripping head 6 and the intermediate layer 5 detected by the suction and / or gripping head 6 take place here by 90 ° and horizontally. In addition, the

Pivoting movement of the Auslgers 9 and the rotational movement of the intermediate layer 5 superimposed by means of the suction and / or greyish head 6 in time and take place in opposite directions of rotation.

For all intermediate layers 5 of the intermediate layer stack 7, a

Alignment correction done so that all the layers 5 of the

Interlayer stack 7 reach the destination ZO with a predetermined rotational orientation. Accordingly, the device 1 can receive intermediate layers 5 of an intermediate layer stack 7, which is inaccurate or not precisely positioned, and can be completely independent of the positioning of the intermediate layer stack 7 with a predetermined one

Transfer rotational orientation to the destination ZO.

FIG. 4 shows a flowchart of individual steps, such as can be present when the method 10 according to the invention is implemented. Thus, in the context of a first step, an intermediate layer 5 (see previous figures) of a

 Interlayer stack 7 separated. The separation can be effected by means of a manipulator or a suction and / or gripping device, as already described above, which temporarily fixes the respective intermediate layer 5 to be separated by means of negative pressure.

Following this time, the intermediate layer 5 is moved into a detection area of at least one sensor 16 and can in this case first enter the detection area via its front edge 21. The rotational position of the intermediate layer 5 can then be detected or registered by means of the sensor 16. The sensor system 16 may be in communication with a control device S which, taking into account the detected or registered rotational position, effects a movement of the intermediate layer 5 in the direction of a destination ZO such that the intermediate layer 5 reaches the target location ZO with a predetermined rotational orientation. For this purpose, the control device S can control a manipulator 1 1 or a handling device 13 in a defined manner in order to transfer the intermediate layer 5 with a specific rotational orientation to the destination ZO.

The invention has been described with reference to a preferred embodiment. However, it is conceivable for a person skilled in the art that modifications or changes of the described embodiments can be made without departing from the scope of the following claims. LIST OF REFERENCES

1 device

 5 liner

 6 suction and / or gripping head

7 stacks of interleaves 9 outriggers

 10 procedures

 11 manipulator

 13 handling device

15 direction of movement

16 sensors

 17 First sensor

 19 second sensor

 21 leading edge

S control device ZO destination

Claims

claims Device (1) for handling individual intermediate layers (5) of a Interlayer stack (7), comprising - At least one manipulator (1 1) for separating a single intermediate layer (5) from the intermediate layer stack (7) and transferring the intermediate layer (5) to a destination (ZO), - At least one sensor (16), via which a rotational position of the individual  Intermediate layer (5) can be detected a control device (S) which is in communication with the at least one manipulator (11) and the at least one sensor system (16), wherein the control device (S) moves the intermediate layer (5) over the at least one manipulator (11). taking into account the recognized  Rotary position is predetermined such that the intermediate layer (5) reaches the destination (ZO) with a predetermined rotational orientation. Apparatus according to claim 1, wherein the at least one sensor (16) comprises one or more light barriers. The device of claim 2, wherein the one or more light barriers comprise at least one receiver and at least one laser transmitter. Device according to one or more of Claims 1 to 3, in which the at least one sensor system (16) comprises at least one first preferably optical sensor (17) and at least one second, preferably optical sensor (19) which are positioned a) in such a way in each case one in a movement direction (15) of the intermediate layer (5) leading edge (21) of the intermediate layer (5) can register and wherein b) the detection areas of the at least one first preferably optical sensor (17) and the at least one second preferably optical sensor (19) at least partially obliquely to the direction of movement (15) of the intermediate layer (5) are offset from each other. 5. Device according to one or more of claims 1 to 4, wherein the  at least one manipulator (1 1) at least one handling device (13) with at least one suction and / or gripping head (6) for receiving the  Intermediate layer (5) and transferring the intermediate layer (5) to the destination (ZO), wherein the suction and / or gripping head (6) about a by the suction and / or gripping head (6) extending vertical axis is rotatable to an accepted one  Turn liner (5). 6. Apparatus according to claim 5, wherein the at least one  Handling device (13) has a boom (9), at the free  End region of the suction and / or gripping head (6) is arranged, wherein the arm (9) can be pivoted about a vertical axis in order to transfer the intermediate layer (5) to its destination (ZO). 7. Method (10) for handling individual intermediate layers (5) of a  Interlayer stack (7), comprising the following steps: - separating a single intermediate layer (5) from an intermediate layer stack (7) and transferring the intermediate layer (5) to a destination (ZO), wherein the  Intermediate layer (5) arrives at a detection area of at least one sensor system (16) in time before complete transfer to the destination location (ZO), Detecting a rotational position of the intermediate layer (5) via the at least one sensor system (16), - Defined movement of the intermediate layer (5) in the direction of the destination (ZO), taking into account the detected rotational position, so that the intermediate layer (5) reaches the destination (ZO) with a predetermined rotational orientation. 8. The method of claim 7, wherein the intermediate layer (5) via its front edge (21) into a detection range of the at least one sensor (16) is guided, wherein the at least one sensor (16) has a front edge (21) of the intermediate layer (5 ) optically registered. 9. The method of claim 8, wherein the at least one sensor system (16) for optically registering the front edge (21) emits a laser beam which passes through the leading edge (21) of the intermediate layer (5) before reaching the target location (ZO). 10. The method according to one or more of claims 7 to 9, wherein the  Front edge (21) of the intermediate layer (5) for detecting the rotational position in one  Detection area at least a first sensor (17) and in a  Detection range of at least one second sensor (19) is guided, wherein the detection range of the at least one first sensor (17) and the  Detection range of the at least one second sensor (19) obliquely to a direction of movement (15) of the intermediate layer (5) are offset from each other. 11. The method according to one or more of claims 7 to 10, wherein the  Intermediate layer (5) starting with the separation of the stack of layers (7) without interruption is moved to detect their rotational position. 12. The method according to one or more of claims 7 to 1 1, wherein the  Liner (5) is rotated during its movement in the direction of the destination (ZO) about a vertical axis, which vertical axis through the intermediate layer (5). 13. The method according to one or more of claims 7 to 12, wherein the  Liner (5) by a suction and / or gripping head (6) a  Handling device (13) is accepted, at a free  End of a boom (9) is arranged, wherein the boom (9) together with the intermediate layer (5) and the suction and / or gripping head (6) is pivoted about a vertical axis to the intermediate layer (5) to the destination ( ZO). 14. The method of claim 12 and claim 13, wherein rotating about a vertical axis and pivoting about a vertical axis are temporally superimposed. 15. The method according to claim 12 and 13 or according to claims 12 to 14, at  which the rotation about the vertical axis and the pivoting about the vertical axis take place in opposite directions.