EP0755357B1 - Process and device for taking an object up and transferring it from a first station to a second - Google Patents

Abstract

PCT No. PCT/EP96/00512 Sec. 371 Date Feb. 7, 1997 Sec. 102(e) Date Feb. 7, 1997 PCT Filed Feb. 7, 1996 PCT Pub. No. WO96/25355 PCT Pub. Date Aug. 22, 1996The invention relates to a process and device for taking up stacked or flat objects and subsequently transferring them from a collecting point forming a first station to a second station at which the objects are further processed or handled. The gripping device used is assisted by additional supports in the region not covered by the grip. This assistance occurs when the object is taken up from the first station and stops during the transfer to the second station. The additional supports may be mechanically, pneumatically or hydraulically controlled.

Description

The invention relates to a device according to the preamble of Claim 7.

In the described in DE-A-44 27 703.2 Gripper device are the gripper units of the gripper device dimensioned so that you have the object in there Case a stack of signatures, not completely over the entire length of the signatures under or. also spread, but only up to half of the signatures to be later in the second station to still be able to strap the stack in the gripper.

However, this has the consequence that despite stabilization measures the undetected area of the stack, especially in flat stacks, sagging down and the risk of damage is exposed.

EP-A-0 096 398 describes a device for transporting of stacked paper bags known to be vertical Movable press cylinder, which against a base plate presses. Swiveling support arms are underneath the base plate or alternatively an extendable link chain is provided, which support the stack after being compressed and lifted.

The present invention is therefore based on the object specify a method by means of which the stack or in general or such an object as safely as possible from one Station is transferable to a second, and the device from DE-A-44 27 703.2 so that hanging down the undetected part of an object, e.g. superimposed layers, especially signatures, at the Removal from a first station and transfer to one second station switch off the risk of damage can be.

The task is regarding the procedure by the features of claims 1 and 3 solved.

The support or the support extension is advantageous when moving the gripping device to the machining or stowed at the second station, so that the intended processing step, e.g. strapping can take place without handling means hinder this strapping.

With regard to the device, the task is characterized by the features of Claim 7 resolved.

It is advantageous that the support means over a predetermined Distance, essentially parallel to the lower one Gripper unit can be moved controlled. In a preferred one Embodiment are the support means on the Gripper device arranged.

It may be advantageous that the support means in one predetermined position in relation to the gripper device can be locked. It is advantageously locked at the turntable. Then it is advantageous if means for releasing the locking device on the gripper device the support means are arranged.

The support means are advantageously on the lower Gripper unit guided.

For this purpose, the lower gripper unit in a preferred Embodiment longitudinally slotted tubes or open downwards U-shaped beams as gripper parts, in which the support means designed as support rails are arranged are.

The support rails are in this embodiment provided a control bracket, the length of which is essentially that Support length of the rails corresponds. To lock the Support rails is on the gripper device facing A ratchet mechanism is arranged at the end of the control bracket.

A favorable training provides that the latch mechanism on the one hand with one arranged on the outer edge of the turntable Cam locked and on the other hand by an in the front area of the gripper device Cam is released. Here the jack of the Pawl mechanism in the locked position by means of a spring drawn.

It is advantageously provided that the support rails friction controlled with respect to the gripper device in the remain in the resolved position.

In a favorable embodiment, the control bracket is in the essentially Ω-shaped, the laterally directed Leg of the Ω each on a support rail are fixed and the arc of the Ω at its end area the Jack carries.

The cam of the turntable moves during the forward movement the gripper device into the Ω arc and latches at the end of the arch with the pawl.

In an alternative embodiment, the support means designed as a piston-cylinder arrangement.

In a next embodiment it is provided that the Support means by a piston-cylinder arrangement or the like. controlled are. Here, the support means move when driving under of the object along its entire length, whereas when approaching the processing or storage position be retracted in the second station and when reached this end position are fully retracted.

In a further embodiment of the device Support means as support table or arranged on the turntable Rail devices trained on the same Level or slightly lower than the object support level are adjustable.

These support means are then on the same level or slightly higher than the object support in the second station arranged adjustable.

Fig. 1 in Seitenansicht eine erfindungsgemäße Vorrichtung mit Greifereinrichtung und Sammelstelle.

Fig. 2 eine Ansicht der Vorrichtung gemäß Fig. 1 von oben,

Fig. 3 eine Seitenansicht der Vorrichtung aus Fig. 1 mit auf eine Auflage aufgelegtem Stapel.

Fig. 4 die Vorrichtung in der Position gemäß Fig. 3 von oben ohne Stapel,

Fig 5 eine Ansicht der Vorrichtung mit Greifereinrichtung auf den Drehtisch in Drehposition,

Fig 6 eine Ansicht der Vorrichtung in Position gemäß Fig. 5 von oben

Fig. 7 eine Detailansicht der Vorrichtung in der Position gemäß Fig. 1

Fig. 8 eine Ansicht der Vorrichtung gemäß Fig. 7 von oben

Fig. 9 eine Ansicht der Vorrichtung in Position gemäß Fig. 3,

Fig. 10 eine Ansicht der Vorrichtung in Position gemäß Fig. 9,

Fig. 11 ein weiteres Ausführungsbeispiel der Vorrichtung in Seitenansicht.

Fig. 12 ein nächstes Ausführungsbeispiel der Vorrichtung in Seitenansicht,

Fig. 13 eine Ansicht von oben des Ausführungsbeispiels gemäß Fig. 12, und

Fig. 14 eine Ansicht eines weiteren Ausführungsbeispiels in Seitenansicht.

The invention is explained in more detail below on the basis of exemplary embodiments illustrated in the figures. Show it:

Fig. 1 in side view of a device according to the invention with gripper device and collection point.

2 is a view of the device of FIG. 1 from above,

Fig. 3 is a side view of the device of Fig. 1 with a stack placed on a support.

4 shows the device in the position according to FIG. 3 from above without a stack,

5 shows a view of the device with gripper device on the rotary table in the rotary position,

Fig. 6 is a view of the device in position according to FIG. 5 from above

7 shows a detailed view of the device in the position according to FIG. 1

Fig. 8 is a view of the device of FIG. 7 from above

9 is a view of the device in position according to FIG. 3,

10 is a view of the device in position according to FIG. 9,

Fig. 11 shows another embodiment of the device in side view.

12 shows a next embodiment of the device in side view,

13 is a top view of the embodiment of FIG. 12, and

14 is a side view of a further exemplary embodiment.

In Figures 1 to 10 is a device for removal and transferring a stack 12 from a collection point 2 in shown a stacking device. The collection point 2 is hereinafter referred to as station 1.

The device removes the stack from station 1 and hands it over according to a procedure that will be explained in more detail later a second station (not shown), the a strapping station or any other processing station or can be handling station.

The overall device according to patent application DE-A-44 27 703.2 has two gripper devices arranged on a rotary table 3, of which only one is shown in FIG. 1 is. These two gripper devices work alternately in time. The gripper device 3 has two gripper units 4 and 5, which are rod-like components can act. Depending on the type of training, both upper and lower gripper unit 4 or 5 or only the upper gripping unit 4 for the purpose of gripping and pressing the object together so that it can be moved in height. In the illustrated embodiment, at least the upper gripper unit 4 can be moved in height.

The gripper unit is on the turntable 6 on a rail arrangement C can be moved back and forth.

The lower gripper unit is equipped with a support means 7, on the same level with or slightly below the level of the lower gripping unit is arranged. After the object has been gripped, it is moved out drawn from the first station onto the edition.

The support means 7 occur in the illustrated embodiment only in function if the gripper units are in Movement from the first station. Then they form Support means an extension for the lower gripper unit 5. The support means are, after having their full Contact surface have come into operation, over a predetermined Distance controlled in parallel with the gripper unit movable. The route is by the length of the rails limited for the gripper device 3 on the turntable.

In the embodiment shown in Figures 1 to 10 the support means are arranged on the gripper device 5. So that the object, i.e. the stack 12, on the support means 7 can be charged while the gripper device moves backwards, the support means in a predetermined position in relation to the gripper device 3 locked (see Fig. 3, 4, 7, 8). Now that is Object properly arranged on the support means, so is the support means. the gripper device 3 solved and drives the aforementioned together with the gripper device predetermined distance back on the turntable, so that in the further course of the handling of the turntable can perform predetermined rotation (see FIG. 5).

In the embodiment shown in Figures 1 to 10 the lower gripper unit 5 has slits in the longitudinal direction Pipe or U-profile carrier 14 as gripper parts (see Fig. 7). In this slotted tube or the U-profile beam 14 are as in this embodiment Support rails 8 trained support means added and guided in it.

In the following, reference is made in particular to FIGS. 7 and 8 taken. The support rails are each on their End facing gripper device on a control bracket 13 attached. The control bracket 13 consists essentially of Form of the Greek letter Omega Ω whose side Leg 19 each rigidly connected to a support rail 8 are. The arc 20 of the Ω extends elongated in the direction Gripper device parallel to the longitudinal axis of the support rails 8 and carries at its arcuate end Pawl mechanism 10. The pawl mechanism 10 has one Pawl 18, which is in the locked position by means of a spring 7 is pulled (Fig. 8). There is a cam 15 on the rotary table 6 arranged with which the pawl 8 locked when the Gripper device 3 in its foremost end position located. In this position, the lower one reaches under Gripping unit 5 the object in the collection point 2. In the front area of the gripper device 3 are between the tubular rods of the lower gripper unit 5 means provided for releasing 9 of the pawl mechanism 10. This means to release consist of a downward-facing cam 16, which engages with a hook 18 'of the pawl 8 can occur in such a way that the latching of the pawl 18 with the cam 15 of the rotary table 6 is released (Fig. 9, 10).

In the following the function of the device and the method of which the device makes use, explained in more detail.

The device is suitable for gripping and transferring one Object, for example superimposed layers of Paper, sheets or the like from a collection point, in of which these layers are arranged in a stack a second processing or treatment station.

The process is said to be in conjunction with a stacker trained collection point for printed products, in particular Signatures are described. After in the stacker desired number of stacked stacks has been reached the gripper device 3 travels with the gripper units open 4, 5 in the collection point 2 or the stacker in and overlaps with the upper gripper unit top layer of the stack, while the bottom gripper unit 5 reaches under the stack. The collecting table of the Stacker with corresponding grooves or comparable Means formed so that the lower gripper unit, the as a parallel rod arrangement trained to drive freely under the stack can. The collected and crossed signatures are in the present application example in a next step strapped in a second station for transportation.

The strapping is advantageously carried out at a time on which the stack of the gripper units is still compressed into one Condition is maintained. For this reason, may the gripper units do not protrude into the area, where the strapping takes place. Usually take therefore the gripper units only stack the stack in one area, that ends just before the middle of the stack. As at the beginning already described, it can happen that with certain As a result, products only receive insufficient support of the stack takes place so that during transport damage from the collection point to the next processing station can occur on the stack. Here it comes into play Invention.

After the gripper units 4, 5 gripped the stack 12 have, it can be raised by a predetermined amount, the simultaneous or immediately following the Gripper device 3 moves backwards and the stack out of the Collection point. For certain products there is an No lifting required. Here is the lower gripper unit provided with an overrun ramp, which when driving under lifting the stack up a bit. Reach the gripper units 4 and 5 their lowest position in the collection point, are the Support means 7, in the present case the support rails 8, by means of the pawl mechanism 10 on the cam 15 of the Turntable locked. While now the gripper device 3 moved backwards on the rails of the turntable, the support means 7 remain, since they latched on the turntable are stationary with respect to the gripper device, so that the Stack 12 during the backward movement of the gripper device can be pulled onto the support means (Fig. 3).

In the embodiments shown in FIGS. 1 to 10 are the support means as support rails in the as Tubes-formed rods 14 of the lower gripper unit 5 arranged. During the retraction of the gripper device these support rails are increasingly released and push themselves under those moved to the left in FIG. 1 Stack 12. After a predetermined distance lies the entire rest of the stack that is not from the bottom Gripper unit 5 is included, on the support means 7 or the support rails 8 on (Fig. 3). At this time the latching of the support means with the turntable 6 released, and the support means 7 continue to travel together with the Gripper device 3 on the turntable 6 backwards up to one End stop at which the gripper device 3 comes to a standstill comes (Fig. 5). During this further way back the means for releasing the lock 9 remains one arranged in the front area of the gripper device 3 downward cam 16 is further engaged with the pawl 18 of the pawl mechanism 10 (Fig. 10). After reaching the end position of the gripper device 3 the turntable rotates around the gripping device 3 and thus the stack 12 in position to a second station, in the next treatment step, e.g. strapping take place supposed to bring. The gripper device 3 now moves forward, the support means 7 due to a controlled Friction in the guidance of the tubes 14 and on the control bracket 13 in its relative position to the gripper device 3 remain.

Reference can now be made again to FIGS. 3 and 4, with the sign that this is now station 2 should act. The stack 12 has its storage or processing position not yet reached, the pawl mechanism 10 at the end of the arc 20 of the control bracket 13 but comes to this Time again in engagement with the cam 15 of the turntable 6. In this way, the support means 15 is locked, whereas the gripper device 3 and thus also the stack 12 continues towards the machining position move. In Fig. 3 it can be clearly seen that the end of the support rails 8 at a distance in front of the machining center line BM has come to a standstill. With the further retraction of the gripper device 3 Stack 12 pushed over the support rails 8 and reached in this way its final position, as for example can be seen in an analogous view of FIG. 1.

In this situation you can now immediately after reaching this Position of the next processing step, for example the Strapping take place shortly after the start of this Processing step the gripper device by moving apart the upper and / or lower gripper unit 4, 5 can be solved. The gripper device 3 then moves out of station 2, with regard to the support means 7 the same mechanical process takes place as during described driving out of the first station. This means that when the gripper device is retracted 3 the support rails in the collecting point of the stacker first drive under stack 12 and that in further progress of the movement of the gripper device 3 Slide tubes 14 over the support rail. Has the gripper device 3 reaches its final position in collection point 3, the removal process runs again as described from.

In some devices, as mentioned above, the lower one Gripper unit cannot be moved in height, but it is Provide a ramp in the front area so that they are easily among the piles in the collection point can push. However, the lower gripper unit is too height-adjustable, so it can be opened during opening, i.e. of the Downward movement, after a predetermined path, the cam 15 of the turntable out of engagement with the jack 18. Die Locking can then only be carried out again after lifting the lower one Gripper unit take place.

In an alternative embodiment shown in FIG. 11 the support means consist of a piston-cylinder arrangement 21, 21 ', the piston 21' being designed as a support is. The piston cylinder arrangement is then according to the aforementioned embodiment according to the input and Extending the gripper device controlled. In this embodiment the ratchet mechanism is eliminated, but it is an appropriate valve control is necessary in order to the respective desired times the dysfunction of the To ensure support means.

In the embodiment shown in Fig. 12 takes place the control of the support means 7, in the present case the Support rail 8, via a piston-cylinder arrangement 21. By this piston-cylinder arrangement 21, the mechanical Control of the support means replaced, with a corresponding Control sequence the timing of the function of the Support means, here support rail 8, controls.

In Fig. 13 is the embodiment shown in Fig. 12 shown in top view. Between the two support rails 8, a traverse 8 'is provided, both of which Connects rails with each other. This traverse 8 'engages the piston of the piston cylinder assembly 21, which in turn is fixed on the gripper device 3.

In a particularly simple embodiment, as in 14, the support means 7 consist of a rigid plate fixed on the turntable 6 or Rail arrangement. This plate or rail assembly reaches directly to the collecting table of station 1 and also the storage table of station 2, which is a special one structural adjustment of the stations and also of the turntable required. After grasping the object 12, this becomes just pulled from the collection point to edition 7 and stays there during the rotation, held by the Gripper device 3.

After the rotation, the gripper device moves into the second Collection station and in this way pushes the object 12 in the second station. To ensure the smooth functioning of the To ensure push and pull movement it is necessary that the level of the pad 7 is the same, preferably slightly is below the level of the collection table of station 1, on the other hand but the edition 7 is the same, preferably slightly higher than the level of circulation of station 2.

The device and method are not shown on the and described embodiments limited. For example, the support means is controlled an electrically controlled actuator is not shown, however, it also falls within the scope of protection Claims as well as the means that are required described piston cylinder arrangements pneumatic or operated hydraulically. The scope of application is also Invention not on the handling of stacked signatures Limited form. It can be done in the same way corresponding adaptations of the elements forming the invention Applications in the field of handling any flat structures fall into the protection area.

Claims (8)

1. Method of handling an object (12), in particular a stack of paper products placed above one another, with a grasper device (3) which has an upper and a lower grasper unit (4, 5) which are arranged on a rotary table (6) and are horizontally and vertically movable, the method comprising the following steps:

   a) Movement of the grasper device (3) up to the object so that the upper grasper unit (4) is arranged above the object and the lower grasper unit (5) beneath the object, in each case free of contact,

   b) gripping the object (12) by the grasper units,

   c) retraction of the grasper device (3) with the gripped object,

   d) rotation of the rotary table (6),

   e) advance of the grasper device (3),

   f) release of the grasper units (4, 5), and

   g) return travel of the grasper device (3),

   characterised in that grasper device (3) draws the object (12) during the return movement, after it has been gripped, onto a support means (7) on which it remains at rest during the rotation of the rotary table (6) and from which it is pushed off again on advance of the grasper device (3).
2. Method in accordance with Claim 1, characterised in that the grasper device (3) is still held closed during the pushing off of the object.
3. Method of handling an object (12), in particular a stack of paper products placed above one another, with a grasper device (3) which has an upper and a lower grasper unit (4, 5) which are arranged on a rotary table and are horizontally and vertically movable, the method comprising the following steps:

   a) Movement of the grasper device (3) up to the object (12) so that the upper grasper unit (4) is arranged above the object and the lower grasper unit (5) beneath the object, in each case free of contact,

   b) gripping the object by the grasper units (4, 5),

   c) retraction of the grasper device (3) with the gripped object,

   d) rotation of the rotary table (6),

   e) advance of the grasper device (3),

   f) release of the grasper units (4, 5), and

   g) return travel of the grasper device (3),

   characterised in that a support extension (7) which extends the lower grasper unit (5) forwardly is moved outwardly, at least at the lower grasper unit during the movement of the grasper device to the object, so that a larger support is offered to the object.
4. Method in accordance with claim 3, characterised in that the support extension is moved in again with progressive movement of the grasper device (3) towards a processing or deposition location.
5. Method in accordance with claim 3, characterised in that the support extension (7) does not participate in the gripper action.
6. Method in accordance with claim 3, characterised in that the support extension (7) is lowered somewhat before or during the inward movement.
7. Apparatus for grasping an object (12), in particular a stack of paper products placed above one another, comprising a gripper device (3), which has an upper and lower gripper unit (4, 5), which are arranged on a rotary table (6) and horizontally movable, with at least the upper gripper unit (4) being vertically movable, characterised by support means (7) on which the object becomes supported after being gripped during the return movement, with the support means (7) arranged in the same plane as or fractionally beneath the lower grasper unit (5).
8. Apparatus in accordance with claim 7, characterised in that the support means (7) can be brought into operation and out of operation and form an extension of the lower grasper unit (5) in the operating mode.

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