阅读说明：本技术 用于堆叠的平坦元件用储存装置的盖构件 (Cover member for storage device for stacked flat elements ) 是由 F·雷格 V·舍恩伯格 于 2021-03-17 设计创作，主要内容包括：用于堆叠的平坦元件用储存装置的盖构件。本发明涉及用于储存装置的盖构件、相应的储存装置以及包括所述储存装置的抓持系统。此外,本发明涉及用于抓持和分离堆叠的平坦元件的方法。盖构件适于安装在用于储存具有预定尺寸的多个平坦元件的堆叠体的储存装置的顶侧。盖构件限定了具有边缘部分的第一开口,其中第一开口适于与至少一个抓持单元相关联,使得当将盖构件安装在储存装置的顶侧时,抓持单元能够经过第一开口进入储存装置以抓持和移除平坦元件。第一开口具有如下尺寸：当经过第一开口从储存装置移除抓持的平坦元件时,抓持的平坦元件抵接边缘部分,以便弯曲并与下方平坦元件分离。(A cover member for a storage device for stacked planar elements. The present invention relates to a cover member for a storage device, a corresponding storage device and a gripping system comprising said storage device. Furthermore, the invention relates to a method for gripping and separating stacked flat elements. The cover member is adapted to be mounted on a top side of a storage device for storing a stack of a plurality of planar elements having a predetermined size. The cover member defines a first opening having an edge portion, wherein the first opening is adapted to be associated with at least one gripping unit such that when the cover member is mounted on the top side of the storage device, the gripping unit can enter the storage device through the first opening to grip and remove the planar element. The first opening has the following dimensions: when the gripped planar element is removed from the storage device through the first opening, the gripped planar element abuts the edge portion so as to bend and separate from the underlying planar element.)

1. A cover member (1) adapted to be mounted on a top side of a storage device (10) for storing a stack (100) of a plurality of planar elements having a predetermined size,

the cover member (1) defines a first opening (13) having an edge portion (13a, 13b), wherein the first opening (13) is adapted to be associated with at least one gripping unit (30) such that, when the cover member (1) is mounted on a top side of the storage device (10), the gripping unit (30) is accessible through the first opening (13) into the storage device for gripping and removing a flat element (102), wherein:

the first opening has the following dimensions: when removing the gripped planar element (102) from the storage device through the first opening (13), the gripped planar element (102) abuts the edge portions (13a, 13b) so as to bend and separate from the underlying planar element (104).

2. A cover member (1) according to claim 1, comprising at least two separating bars, wherein the separating bars at least partially define the first opening (13) and the edge portions (13a, 13b) are provided to the separating bars.

3. A cover member (1) according to claim 1 or 2, wherein said first opening (13) is arranged in a central portion of said cover member (1) such that at least one associated gripping unit (30) is adapted to grip said flat element centrally when said cover member (1) is mounted on a top side of said storage device (10).

4. A cover member (1) according to any one of claims 1-3, wherein said edge portions (13a, 13b) comprise rounded edges adapted to abut said gripped planar element, wherein said rounded edges are optionally formed on a protective element of the edge portions (13a, 13b) at least partially forming the first opening (13).

5. The cover member (1) according to claim 4, characterized in that the cover member (1) further comprises a second opening (14) and/or a third opening (15) adapted to be associated with a second grip unit (40, 50), such that the second grip unit (40, 50) can enter the storage device (10) through the second opening (14) and/or the third opening (15) when the cover member (1) is mounted on the top side of the storage device (10).

6. A storage device (10) for storing a stack (100) of a plurality of planar elements having a predetermined size, the storage device (10) being further adapted to be accessed by a gripping unit (30), wherein,

the storage device (10) comprising a cover member (1) according to any one of claims 1 to 5, the cover member (1) defining a first opening (13) having an edge portion (13a, 13b), wherein the first opening (13) is adapted to be associated with at least one gripping unit (30) such that the gripping unit (30) can enter the storage device through the first opening (13) to grip and remove a flat element (102),

the first opening has the following dimensions: when removing the gripped planar element (102) from the storage device through the first opening (13), the gripped planar element (102) abuts the edge portions (13a, 13b) so as to bend and separate from the underlying planar element (104).

7. The storage device (10) according to claim 6, further comprising a blower connection means (11), the blower connection means (11) being adapted to connect the storage device (10) with a blower (20) to provide a lateral air flow to the stack of planar elements (100) such that a separate air flow is established at least between a top planar element (102) and a lower planar element (104) of the stack of planar elements (100).

8. Storage device (10) according to claim 7, characterized in that the storage device (10) comprises a side wall with at least one groove (16) communicating with the blower connection member (11), wherein the at least one groove (16) optionally extends in the stacking direction (z) of the stack (100) of flat elements.

9. A gripping system (1000) for stacked planar elements (102, 104), wherein the gripping system (1000) comprises:

the storage device (10) according to any one of claims 6 to 8, and

at least one gripping unit (30) associated with the first opening (13) of the cover member (1) of the storage device (10), wherein,

the at least one gripping unit (30) is adapted to grip a flat element (102) from a stack (100) of stored plurality of flat elements through the first opening (13) and remove the gripped flat element (102) such that when the gripped flat element (102) is removed from the storage device through the first opening (13), the gripped flat element (102) abuts an edge portion (13a, 13b) of the first opening so as to bend and separate from a lower flat element (104).

10. Gripping system (1000) according to claim 9, characterized in that the gripping unit (30) comprises at least one gripping device (32) being a vacuum gripper, and the gripping unit (30) optionally comprises a plurality of vacuum grippers arranged in a row.

11. The gripping system (1000) according to claim 9 or 10, wherein at least one gripping unit (30) is a first gripping unit, and

the gripping system (1000) further comprises a second gripping unit (40, 50), the second gripping unit (40, 50) being adapted to grip the gripped planar element (102) after the gripped planar element (102) is removed through the first opening (13), wherein,

the second gripping unit (40, 50) is optionally adapted to hold a gripped planar element (102) in a gripping surface, wherein the gripping surface may be substantially horizontal.

12. The gripping system (1000) according to any one of claims 9 to 11, wherein the first gripping unit (30) and the second gripping unit (40, 50) are movable in a stacking direction (z) of the stack (100) of flat elements, and the first gripping unit (30) is optionally movable in the stacking direction (z) of the stack (100) of flat elements independently of the second gripping unit (40, 50).

13. A method for gripping and separating stacked planar elements (102, 104), the method comprising the steps of:

providing a gripping system (1000) according to any one of claims 9 to 12;

storing a stack (100) of a plurality of flat elements in a storage device (10) of the gripping system (1000);

-gripping a flat element (102) through the first opening (13) using the first gripping unit (30);

removing the gripped planar element (102) through said first opening (13), thereby

Bending the gripped planar element (102) due to abutment with edge portions (13a, 13b) of said first opening (13) so as to separate the gripped planar element (102) from the underlying planar element (104).

14. The method of claim 13, further comprising: -blowing laterally the stack (100) of flat elements using a blower (20); and establishing a separate air flow at least between a top planar element (102) and a lower planar element (104) of said stack (100) of planar elements.

15. Method according to claim 13 or 14, further comprising gripping the flat element (102) with the second gripping unit (40, 50) after removing the flat element (102) through the first opening (13), wherein the second gripping unit is optionally set to an inactive state in case the first gripping unit (30) grips and removes the flat element (102) through the first opening (13).

Technical Field

The present invention relates to a cover member for a storage device for stacked flat elements, a corresponding storage device and a gripping system comprising said storage device. Furthermore, the invention relates to a method for gripping and separating stacked flat elements.

Background

Flat elements of sheet material such as paper or cardboard, textile, non-woven, foil or the like and/or other sheet materials such as sheet metal and/or wood-based sheet materials, metal-based sheet materials and/or plastic-based sheet materials or the like are typically provided as stacks.

The individual elements must be separated from each other before further processing of those stacked planar elements. Vacuum grippers for separating stacked flat elements are known, which grip the top element of a stack of stacked flat elements. To grip the flat element, the vacuum gripper provides a negative pressure, thereby sucking the respective element. This allows gripping and holding very large loads as long as the gripping surface is smooth enough to ensure suction.

Known grippers, such as vacuum grippers, typically grip not only a single flat element (i.e. the top element of the stack), but also a plurality of elements. Gripping multiple elements is undesirable because the elements are typically further processed one by one. Thus, grasping multiple elements may result in process failure or scrapping of parts in further processing devices. Therefore, after automatic gripping, manual intervention is typically required to manually separate the gripped elements.

Initial attachment of the planar elements to one another can result in the grasping of multiple planar elements. Furthermore, the elements can adhere to each other as they are sucked together by the vacuum gripper. This is particularly true if the planar element (such as a nonwoven or fabric) is breathable.

In order to be able to provide a gripped and separated flat element, known gripping devices often comprise autonomous separating devices, which results in mechanically complex gripping devices and increases cycle times, since the gripped element has to be separated after gripping.

It is therefore an object of the present invention to improve the gripping and separation of stacked flat elements and to provide a device/system that allows to reliably grip and separate the top element of a stack of stacked flat elements from the underlying element.

Disclosure of Invention

This object is at least partly achieved by a cover member according to solution 1, a storage device according to solution 6, a gripping system according to solution 9 and a method for separating stacked planar elements according to solution 13.

In particular, this object is achieved by a cover member adapted to be mounted on a top side of a storage device, wherein the storage device is adapted to store a stack of a plurality of planar elements having a predetermined size. The cover member defines a first opening having an edge portion, wherein the first opening is adapted to be associated with at least one gripping unit such that when the cover member is mounted on the top side of the storage device, the gripping unit can enter (access) the storage device through the first opening to grip and remove a flat element. Further, the first opening has the following dimensions: when the gripped planar element is removed from the storage device through the first opening, the gripped planar element abuts the edge portion so as to bend and separate from the underlying planar element.

The storage means on which the cover member can be mounted may be any type of storage location suitable for storing and providing a stack of stacked planar elements. In particular, the storage device may be provided as a tray or storage box at least partially enclosing a stack of stacked planar elements. Providing a storage box allows for transporting and protecting the flat elements of the stack from damage. The storage means may be replaceable so that an empty storage means can be replaced with a filled storage means after removal of the last planar element from the storage means. Alternatively or additionally, the storage device may be configured to be refillable.

The cover member may be mounted to the storage device such that the cover member is not lifted when the gripped planar element is removed through the first opening. For example, the cover member may be mounted to the storage device by at least one of: a threaded member, a bolt member, a locking member, a snap member, a hook member, a latch member, etc. The cover member may be permanently or removably mounted on said storage means, wherein the removable mounting is preferably tool-free. Further, the cover member may be integrally formed with the storage device or at least a portion of the storage device.

Separating the gripped planar element from the underlying planar element of the stack of planar elements is achieved by abutting the gripped planar element against the edge portion when removing the gripped planar element from the storage device through the first opening of the cover member. The abutment causes the gripped planar element to bend. In the case where multiple flat elements are grasped, those elements are bent at different bend radii, and therefore, the grasped top flat element is separated from the underlying accidentally grasped flat element. Thus, the gripped top planar element can be removed separately from the storage device, wherein the lower planar element remains stored in the storage device.

In order to ensure sufficient bending for separation and to prevent damage to the planar elements, the edge portions of the first openings may be arranged in parallel and spaced apart from each other by a distance x. Furthermore, the stacked planar elements may have a first dimension l in a direction substantially perpendicular to the edge portion when stored in the storage device, wherein the ratio of x: l may be in the range of 1:10 to 1:2, or in the range of 1:8 to 1:3, or in the range of 1:6 to 1: 4. Furthermore, the distance x of the edge portion of the first opening may be adjustable in order to adapt the first opening to the size of the stored flat element.

The stacked planar elements may include at least one of: paper, cardboard, fabric, nonwoven, foil, and sheet. Furthermore, the stacked planar elements may be wood-based elements, metal-based elements and/or plastic-based elements. In particular, the stacked planar elements may be air permeable. For example, the stacked planar elements may be based onWhereinIs a nonwoven fabric based on high density polyethylene fibers.

The cover member may further include at least two separation bars, wherein the separation bars at least partially define the first opening, and the edge portions may be provided to the separation bars. In particular, the separating rods may be configured to be movable relative to each other such that the distance x between the edge portions of the first opening can be adjusted. This allows adapting the storage device/cover member to different types and sizes of stored stacked planar elements.

The first opening may be arranged in a central portion of the cover member such that at least one associated gripping unit is adapted to grip the flat element centrally when the cover member is mounted on the top side of the storage device. The centered gripping of the planar element results in uniform bending, facilitating separation.

Furthermore, the edge portion of the first opening may comprise a rounded edge adapted to abut the gripped planar element. The rounded edge may optionally be formed on a protective element that at least partially forms an edge portion of the first opening. Providing rounded edges prevents damage to the planar member during bending and disassembly. The protective element may be replaceable so that the storage device can be easily adapted to different types of stacked flat elements.

The cover member may comprise a second opening and/or a third opening associated with a second grip unit, such that the second grip unit can enter the storage device through the second opening and/or the third opening when the cover member is mounted on the top side of the storage device. In particular, the cover member may comprise one second opening and one third opening, and/or the cover member may comprise a plurality of second openings and/or a plurality of third openings. The second opening and/or the third opening allow (at least partially) the second grip unit to enter the storage device. Therefore, the first grip unit and the second grip unit can be installed in a desired grip surface and can be moved together. In this case, the initial grip may be performed by the first gripping unit, wherein the second gripping unit is inactive (i.e. initially the second gripping unit does not grip the flat element). Subsequently, after separating and removing the gripped planar element from the storage device, the second gripping unit may become activated and grip the planar element also outside the first gripping unit. Alternatively, the first gripping unit can become inactive after the second gripping unit has become active.

The object is also achieved by a storage device for storing a stack of a plurality of flat elements having a predetermined size. The storage device is adapted to be accessed by a gripping unit and comprises a cover member according to any of the aspects described above. In particular, the cover member defines a first opening having an edge portion and is adapted to be associated with at least one gripping unit, such that the gripping unit can enter the storage device through the first opening to grip and remove a flat element. The first opening has the following dimensions: when the gripped planar element is removed from the storage device through the first opening, the gripped planar element abuts the edge portion so as to bend and separate from the underlying planar element.

The storage device may be any type of storage location suitable for storing and providing a stack of stacked planar elements. In particular, the storage device may be provided as a tray or storage box at least partially enclosing a stack of stacked planar elements. The provision of a storage box allows to transport and protect the flat elements of the stack from damage. The storage means may be replaceable so that an empty storage means can be replaced with a filled storage means after removal of the last planar element from the storage means. Alternatively or additionally, the storage device may be configured to be refillable. Furthermore, the internal dimensions of the storage device may be adapted to the predetermined dimensions of the flat elements to be stored, to prevent misalignment and/or skewing of the stack of stacked flat elements. Still further, the interior dimensions of the storage device may be adapted to the predetermined dimensions of the planar member, for example, by at least one insertable element and/or at least one repositionable element (such as a repositionable sidewall).

The cover member may be permanently or removably mounted to the storage device, or the cover member may be integrally formed with the storage member or at least a portion of the storage member.

The storage device may comprise a blower connection means adapted to connect the storage device with a blower to provide a lateral air flow to the stack of a plurality of planar elements such that a separate air flow is established at least between a top planar element and a lower planar element of the stack of a plurality of planar elements.

The blower connection member may be any type of connection member that allows the airflow established by the blower to be directed to the storage device. The blower may be a separate device or may be integrated into the storage device. In particular, the blower, when connected to the storage device, may be configured to move the stacked planar elements within the storage device, thereby reducing or even preventing initial adhesion between adjacent stacked planar elements. By establishing separating air (separating air) between adjacent planar elements, the initial attachment can be further reduced or even limited.

Further, the blower may be configured to establish a separate air flow between the gripped top planar element and the accidentally gripped lower planar element. The separate air flow is able to enter the gap formed between the gripped top planar element and the accidentally gripped lower planar element due to the different bending radii of the gripped planar elements. The separation air then also serves to positively separate the gripped top planar element from the underlying planar element.

The storage device may further include a sidewall having at least one slot in communication with the blower attachment member. Alternatively, at least one of said grooves may extend in the stacking direction z of said stack of flat elements.

The side wall comprising the at least one groove may be part of the cover member or may be formed separately from the side wall of the cover member. The at least one slot may be designed to direct the flow of separated air towards a stack of stacked planar elements. In particular, the at least one slot may be designed to provide a separate air flow extending over the entire height of the stack of flat elements, thereby allowing a separate air flow to be established between adjacent stacks of flat elements, independent of the filling degree of the storage device.

In particular, a plurality of grooves may be provided, each groove communicating with the blower connecting member. These multiple slots may be arranged parallel to each other in order to establish a separate air flow over the width dimension of the stack of flat elements. The at least one groove may be provided in a side wall parallel to an edge portion of the first opening. Alternatively or additionally, the at least one slot may be provided in a side wall perpendicular to an edge portion of the first opening. Furthermore, the grooves may be distributed over at least two side walls of the storage device, wherein these side walls may be in contact with each other or may face each other. Furthermore, the at least one slot may be covered by a gas-permeable cover (such as a perforated plate) to prevent the slot from being blocked.

The object is also achieved by a gripping system for stacked planar elements, wherein the gripping system comprises a storage device as described above, which storage device in turn comprises a cover member. Further, the gripping system comprises at least one gripping unit associated with the first opening of the cover member of the storage device. The at least one gripping unit is adapted to grip a flat element from a stack of stored plurality of flat elements through the first opening and remove the gripped flat element such that when the gripped flat element is removed from the storage device through the first opening, the gripped flat element abuts an edge portion of the first opening so as to bend and separate from an underlying flat element.

Separating the gripped planar element from the underlying planar element of the stack of planar elements is achieved by abutting the gripped planar element against the edge portion when removing the gripped planar element from the storage device through the first opening of the cover member. The abutment causes the gripped planar element to bend. In the case of grasping a plurality of flat elements, those elements are bent at different bending radii, and therefore, the grasped top flat element is separated from the underlying accidentally grasped flat element. Thus, the gripped top planar element can be removed separately from the storage device, wherein the lower planar element remains stored in the storage device.

The gripping unit may comprise at least one gripping device acting as a vacuum gripper. Alternatively, the gripping unit may comprise a plurality of vacuum grippers arranged in a row. The vacuum gripper allows to firmly grip the stacked flat elements without damaging them. By providing a plurality of vacuum grippers, the grip can be improved. The array of vacuum grippers allows to firmly grip the stack of flat elements while being able to bend the gripped flat elements when removing the gripped flat elements through the first opening of the storage device. Therefore, a large-sized flat element can be surely handled.

Further, the at least one gripping unit may be a first gripping unit. In addition, the gripping system may comprise a second gripping unit adapted to additionally grip the gripped planar element after it has been removed through the first opening. The second gripping unit is optionally adapted to hold a gripped planar element in a gripping surface, wherein the gripping surface may be substantially horizontal.

The second grip unit allows the removed flat member to be gripped and held more firmly. Keeping the flat element in the grip surface, i.e. substantially flat, prevents the flat element from being damaged by permanent bending and also facilitates the hand over to another processing unit. Therefore, the separation apparatus can be easily integrated in an automated production line. The second gripping unit may be inactive during initial gripping of the top planar element by the first gripping unit. Alternatively, the second gripping unit may be mounted outside the storage device such that the second gripping is performed only after the gripped planar element is removed from the storage device.

Furthermore, the first gripping unit and the second gripping unit may be adapted to move in a stacking direction z of the stack of flat elements. This facilitates gripping of the stacked planar elements. Furthermore, the first holding unit may be movable independently of the second holding unit in a stacking direction z of the stack of a plurality of flat elements. This allows the second gripping unit to be mounted outside the storage device, wherein only the first gripping unit enters the storage device to initially grip the flat element.

The second gripping unit may comprise at least one gripping device as a vacuum gripper. Optionally, the second gripping unit comprises a plurality of vacuum grippers arranged in a row, and optionally also sandwiches the first gripping unit. The vacuum gripper allows to firmly grip the removed flat element without damaging it. By providing a plurality of vacuum grippers, the grip can be improved. An array of vacuum grippers allows to firmly grip the removed flat element and hold it in the gripping surface. This is especially true if the second gripper unit comprises a plurality of rows of vacuum grippers sandwiching the first gripper unit. The vacuum grippers of the second gripping unit may be arranged in two parallel rows. More rows may be provided to allow processing of large sized planar elements. The vacuum gripper can be easily controlled to be activated or deactivated by providing sufficient negative pressure for gripping (activated state) or by providing insufficient negative pressure or no negative pressure (deactivated state).

Further, the second grip unit may be adapted to operate in a blower mode. In this case, the second gripping unit may provide a positive pressure, i.e., a flow of gas in the direction of the flat element to be gripped, during the initial gripping. This may result in additional bending of the planar element and thus improved separation.

The object is also achieved by a method of separating stacked planar elements, wherein the method comprises the steps of:

providing a gripping system as described above;

storing a stack of a plurality of planar elements in a storage device of the gripping system;

grasping a planar element through the first opening using a first grasping unit of the grasping system; and

removing the gripped planar element through the first opening, thereby bending the gripped planar element due to abutment with an edge portion of the first opening, so as to separate the gripped planar element from an underlying planar element.

The method may further comprise the steps of: blowing the stack of a plurality of planar elements laterally using the blower; and establishing a separate air flow at least between a top planar element and a lower planar element of said stack of a plurality of planar elements.

Still further, the method may comprise the step of gripping the planar element with a second gripping unit after removing the planar element through the first opening, wherein the second gripping unit is optionally set to an inactive (inactive) state with the first gripping unit gripping and removing the planar element through the first opening.

The method may further comprise the steps of: the gripped planar element is moved to an installation area or a handover area using the first gripping unit and/or the second gripping unit.

With this method all the advantages mentioned above with respect to the separating device and/or the storage device can be achieved.

Drawings

In the following, the drawings showing embodiments of the invention are briefly described:

FIG. 1 shows a schematic view of a gripping system in an initial state;

FIG. 2 shows a schematic view of the grasping system during grasping;

FIG. 3 shows a schematic view of a gripping system with a gripped planar element;

FIG. 4 shows a schematic view of a grasping system with a grasped curved planar element;

FIG. 5 shows a schematic view of a gripping system with a gripped planar element removed;

figure 6 shows a schematic view of a gripping system with a gripped planar element (gripped by the first and second gripping units);

FIG. 7 shows a schematic of a top view of the grasping system, an

Fig. 8 shows a schematic view of a top view of the storage device.

Detailed Description

Fig. 1 to 6 show a schematic view of the gripping system 1000 in different operating states. The gripping system 1000 comprises a storage device 10 for storing a stack 100 of stacked planar elements 102, 104 and optionally a blower 20. Further, the gripping system 1000 comprises a first gripping unit 30 and a second gripping unit 40, 50. Each gripping unit 30, 40, 50 may comprise gripping device(s) 32, 42, 52 which may be provided as vacuum grippers. The first gripping unit 30 is adapted to initially grip a planar element 102 from a stored stack 100 of a plurality of planar elements stored in the storage device 10.

The storage device 10 includes a cover member 1 mounted to a top side of the storage device 10. The cover member 1 defines a first opening 13 having edge portions 13a, 13b, wherein the first opening 13 is associated with at least one gripping unit 30. The gripping unit 30 is able to enter the storage device 10 through the first opening 13 to grip and remove the flat element 102. Furthermore, as will be explained in more detail with reference to fig. 3 and 4, the first opening 13 has the following dimensions: when the gripped flat element 102 is removed from the storage device 10 through the first opening 13, the flat element 102 abuts the edge portion so as to bend and separate from the underlying flat element 104.

The second gripping unit 40, 50 is adapted to grip the gripped planar element 102 after removing the gripped planar element 102 through the first opening 13 of the storage device 10. The second gripping unit 40, 50 is optionally adapted to hold a gripped planar element 102 in a gripping plane, which may be substantially horizontal (see fig. 6).

The blower 20 is adapted to blow air laterally through the stack of multiple planar elements 100 such that a separate air flow is established at least between a top planar element 102 and a lower planar element 104 of the stack of multiple planar elements 100. The blower 20 is connected to the storage device through the blower connection member 11. Further, the storage device 10 and/or the cover member 1 may comprise a side wall having at least one slot 16. The groove 16 communicates with the blower attachment member 11 and thus with the blower 20. In the embodiment shown in fig. 1 to 6, the at least one groove 16 extends in the stacking direction z of the stack 100 of a plurality of planar elements.

In fig. 1, the gripping system 1000 is shown in an initial state. The first and second gripping units 30, 40, 50 are located outside the storage device 10, the storage device 10 storing a stack 100 of stacked planar elements 102, 104. The first and second gripping units 30, 40, 50 are inactive.

In fig. 2, the gripping system 1000 is shown during initial gripping. The first grip unit 30 has entered the storage device 10 via the associated first opening 13 of the cover member 1. Similarly, the second grip units 40, 50 may enter the storage device 10 via the associated second and third openings 14, 15 of the cover member 1, respectively. During initial gripping, the first gripping unit 30 is activated and grips centrally the flat element 102 stacked on top. The second gripper units 40, 50 may be inactive (as shown) or may operate in a blower mode to provide an air flow (not shown) directed onto the surface of the top stacked planar element 102. Alternatively, the second grip unit 40, 50 may not enter the storage device 10, but may be installed outside the storage device 10 (not shown). The blower 20 may move the stacked planar elements within the storage device 10 and/or may cause a separate air flow between adjacent stacked planar elements 102, 104.

In fig. 3, the gripping system 1000 is shown with the flat element 102 initially gripped, with the flat element 102 being gripped by the gripping device 32 (such as a vacuum gripper) of the first gripping unit 30. In this state, the first grip unit 30 is partially retracted from the storage device 10. Since the gripped flat member 102 is gripped only by the first gripping unit 30, the gripped flat member 102 may be initially bent.

The initial bending increases in the state shown in fig. 4. Here, the first grip unit 30 is further retreated from the storage device 10. The first opening 13 of the cover member 1 has the following dimensions: the gripped planar element 102 abuts the edge portions 13a, 13b when the gripped planar element 102 is removed from the storage device 10 through the first opening 13. The abutment increases the curvature and causes the gripped planar element 102 to separate from the underlying planar element 104.

In the case where the first gripping unit 30 accidentally initially grips a plurality of flat members (not shown), those members are bent at different bending radii, resulting in gaps between the gripped plurality of flat members. A separate air flow can enter the gap, and therefore, the gripped top planar element 102 is separated from the underlying accidentally gripped planar element 104.

In fig. 5, the gripping system 1000 is shown with the flat element 102 initially gripped, with the gripped flat element 102 separated and removed from the storage device 10. In this state, the second grip unit 40, 50 may become active (switch to the grip/suction mode). Thereby, as shown in fig. 6, the initially gripped flat member 102 is additionally gripped by the second gripping units 40, 50. Here, the gripped planar member 102 is gripped and held in the gripping face, and can be supplied to another processing unit.

Fig. 7 shows a schematic representation of a top view of the gripping system 1000, in particular of the storage device 10. In this embodiment, the storage device 10 comprises a first opening 13 having edge portions 13a, 13 b. The first opening has the following dimensions: when the gripped flat element is removed from the storage device 10 through the first opening 13, the gripped flat element abuts the edge portions 13a, 13 b. The edge portions 13a, 13b of the first opening 13 may be configured parallel to each other and spaced apart by a distance x, wherein the distance x of the edge portions 13a, 13b of the first opening 13 may be adjustable to adapt the first opening 13 to the size of the stored flat element. In particular, the edge portions 13a, 13b of the first opening 13 can be provided on respective separating bars (not shown) which at least partially form the first opening.

Said first opening 13 is associated with a first gripping unit 30, the first gripping unit 30 comprising a plurality of gripping means 32, 32', 32 "as vacuum grippers. The vacuum grippers are arranged in a row.

Furthermore, the storage device 10 comprises a plurality of second openings 14, 14 'and 14 "and a plurality of third openings 15, 15' and 15". The second openings 14, 14 'and 14 "are associated with the second gripping unit, in particular with a plurality of gripping devices 42, 42', 42" of the second gripping unit 40 as vacuum grippers. The gripping devices 42, 42', 42 "are arranged in the first row of gripping devices of the second gripping unit 40. Furthermore, the third openings 15, 15 'and 15 "are associated with the second grip unit 50, in particular with a plurality of grip devices 52, 52', 52" of the second grip unit, which are vacuum grips. The gripping devices 52, 52', 52 "are arranged in the second row of gripping devices of the second gripping unit 50. The first and second rows of gripping devices of the second gripping units 40, 50 sandwich the row of gripping devices 32, 32', 32 "of the first gripping unit 30.

The design of the first opening 13, the second opening 14 and the third opening 15 is not limited to the design shown in fig. 7. Alternatively, only one second opening 14 and one third opening 15 may be provided, wherein the first opening 13, the second opening 14 and the third opening 15 may be separated from each other by a separating rod of the storage device 10.

Fig. 8 shows a schematic representation of a top view of the storage device 10. In this embodiment, the reservoir 10 comprises a first opening 13 having edge portions 13a, 13 b. The first opening 13 has the following dimensions: when the gripped flat element is removed from the storage device 10 through the first opening 13, the gripped flat element abuts the edge portions 13a, 13 b. The edge portions 13a, 13b of the first opening 13 are arranged parallel to each other and spaced apart by a distance x, wherein the distance x of the edge portions 13a, 13b of the first opening 13 may be adjustable to adapt the first opening 13 to the size of the stored flat element. In particular, the edge portions 13a, 13b of the first opening 13 are provided on the separating bars 2a, 2b which at least partially form the first opening 13. In the embodiment shown, the cover member is essentially formed by separating bars 2a, 2b mounted on top of the reservoir 10. The dividing bars 2a, 2b divide the top side of the reservoir 10 into a first opening 13, a second opening 14 and a third opening 15.

Description of the reference numerals

1 cover member

2a, 2b spacer rod

10 storage device

11 blower connecting component

13 first opening

13a edge portion

13b edge portion

14 second opening

15 third opening

16 grooves

20 blower

30 first grip unit

32 gripping device

40. 50 second grip unit

42. 52 gripping device

100 stack of flat elements

102 planar element

104 flat element

1000 gripping system

z stacking direction

Distance between x edge portions

First size of the flat element