DE19538392A1 - Bobbin manipulator for pallet stacking - Google Patents

Abstract

The assembly to manipulate and handle bobbins, at a bobbin pallet, has a manipulator (23) with a grip (24) structured exclusively to handle bobbins (7), and a grip (25) exclusively for the linings (39) between bobbin layers. Both grips (24,25) are on the same vertical line (33), to give each an operating (45) and a rest (44) position over it, so that only one grip is at the working position (45). Pref. the two grips (44,45) can swing or slide against each other. The grip (45) for the layer linings (39) swings round an axis at right angles to the vertical line (33), from its rest position (44) into the working position (45), and vice versa. In its working position, the grip (45) surrounds the grip (24) for the bobbins (7). The layer lining grip (45) is a gripping tool, with grip fingers or it is a magnet, or it has a suction grip (43) action. The grip head (43) at the grip (25) can slide in relation to the lining (39) surface to change the interval. The dia. (dh) of the circle round the outline of the manipulator (23), on the vertical line (33), is max. the dia. (ds) of the smallest bobbin (7) to be handled. The manipulator (23), with both grips (24,25), is suspended in the assembly (1) by four flat belts (26a-26d) at 90 deg to each other, to move it up and down. A winder (27) moves the belts (26a-26d), so that they are aligned at an acute angle.

Description

The invention relates to a device for handling Coils on a palletizing device receiving coils according to the preamble of the first claim.

In the case of textile machines producing cross-wound bobbins, it is known that the finished coils by automatic Handling devices removed from the textile machines and be palletized. In addition, intermediate layers are automatically created placed on the respective coil layers.

A handling device is known from DE 43 41 925 A1, whose gripper head has gripper jaws with which both Coils and intermediate layers picked up and transported can be. The gripper jaws are for picking up and Transporting coils immersed in the sleeve interior and then spread. The gripper jaws carry the coils non-positive on the sleeves. The gripper jaws of the The gripper head has recesses at its outer end, whose depth is approximately the thickness of an intermediate layer. This The gripper head can only handle intermediate layers, the openings for Have receptacle of the coil sleeves into which the gripper head can immerse.

The object of the present invention is a handling device to propose with which both coils and die interleaves covering palletized coils can be handled can that have no openings for inserting sleeves exhibit.

The task is solved with the help of the characteristic Features of the first claim. By the characteristics of the The invention is advantageously developed further.  

The handling device according to the invention has a gripper exclusively for handling coils and a gripper only for handling liners. By it is the limitation of the grippers to only one function possible, the grippers each optimal for the exercise of them designed functions.

Because both grippers are arranged on the same vertical coordinate are only one control device is required, the Movements of the handling device in the three spatial coordinates controls.

So that a gripper can perform its intended function undisturbed the other gripper can exercise is in for both grippers a lower one with respect to their positions Handling position and an overlying rest position provided, with only one of the grippers in each Handling position stands. By a relative movement of the the two grippers to each other in the vertical coordinate gripper previously in the rest position in the Handling position and the position in the handling position Grippers are brought into the rest position.

In one embodiment of the invention, the two grippers are arranged against each other. Either the Gripper for the sleeves arranged firmly on the handling device be so that the gripper for the intermediate layers over the gripper can be lowered for the sleeves, or the gripper for the Intermediate layers is firmly arranged on the handling device and the gripper for the sleeves is above the level of the gripper postponed for the liners when handled spools should be.

In another embodiment of the invention, the two are Gripper pivotally arranged against each other. A gripper is from the work area of the other gripper swung out so as not to do this during his work  to disturb. It's very easy with the gripper for them Intermediate layers feasible. While the gripper for the coils is firmly arranged on the handling device, the gripper for the intermediate layers around an axis perpendicular to the vertical Coordinate from its rest position into the handling position and reversely swiveling. Swiveled into its rest position gives the gripper for the intermediate layers the gripper for the sleeves free, which he otherwise encloses.

To be able to handle the intermediate layers, the gripper can be used for the intermediate layers with the appropriate one Gripping tools are equipped. These gripping tools can be gripper fingers that are specially designed for gripping intended forms of the intermediate layers, for example Loops or eyelets, intervene.

In another embodiment of the gripper for the The gripper tools can use intermediate layers as magnets be trained. It can in the intermediate layers Permanent magnets can be incorporated with which switchable Activate electromagnets on the gripper. By The electromagnets can then be switched on and off Intermediate layers are added or stored.

In a further embodiment of the gripper, the Gripping tools can be designed as vacuum suction heads. The one already present on the textile machines can be advantageous Vacuum, for example for dirt extraction, for supply the vacuum suction heads can be used. Towards the others mentioned gripping tools require the suction heads lowest design and control engineering effort.

In a further embodiment of the invention Gripping tools for the intermediate layers on the gripper in relation to the surface of the intermediate layers to change the distance slidably arranged to each other. Due to the movability of the gripping tools it is possible to open the gripping tools  Liner with different storage patterns for spools adjust. The intermediate layers can thereby at the points be taken on which there are no contours for the filing of coils. Furthermore, it is by moving the Gripping tools possible, the gripping tools in relation to the Adjust the center of gravity of the intermediate layers so that the Liners during their handling in a stable Stay in balance.

In a further embodiment of the invention, the Diameter of the circumference around the outline of the handling device at most the diameter of the smallest usually handling coil. The pallets and the intermediate layers lie aligned exactly one above the other. The bobbins with their twine must not extend beyond the edge of the pallet so that they not be damaged during transport. The construction for Orientation and support of the intermediate layers meet with the Liners to center them and to move the To prevent intermediate layers. The handling device may therefore Diameter should not be greater than the diameter of the usually the smallest coil to be handled. Otherwise there would be a risk that when placing the coils with little Diameter of the handling device abuts the construction and thus an exact filing according to a predetermined pattern becomes impossible. The limitation of the dimensions of the Handling devices make it possible to coil with the smallest usual diameter with optimal use of Storage area on the pallets.

To bridge the different height between the place, where the coils are picked up by the handling device and the placement on the pallet stack was in one a further embodiment of the invention a stepless in height adjustable device chosen in which the handling device with the two grabs for lifting and lowering on four, each flat belts arranged at 90 ° to one another in the device is hung. The suspension on four flat belts prevents  horizontal and vertical swivel movements. The four tapes are shared by a winding device in the same Length wound and unwound. This is possible because that the drives of the four belts are rigidly interconnected are. By winding all four tapes together at the same time there are tilting movements of the handling device avoided. Such movements would occur if for example, the opposite bands into one continuous band would be combined, the handling device loose hanging in the ribbons and for lifting and lowering the Handling device only one band at one end would be wound up.

In one embodiment of the suspension of the Handling devices run the belts for lifting and lowering so diagonally from the winding device to the handling device, that they each peak with the vertical coordinate Include an angle that opens towards the winder. This arrangement of the tapes versus a course in vertical bearing increases the stability of the handling device during lifting and lowering. Furthermore, between the Tapes the supply lines for the energy supply of the Handling device and the lines for signal transmission be arranged from and to a control device without there is a risk that when lifting and lowering the straps Supply line come into contact with the tapes and caused a change in position of the handling device becomes.

In a further embodiment of the invention Suspension of the handling device run for the Power supply lines as well as the Signal transmission lines provided along the vertical coordinate as interlaced, with spiral cables provided with opposite slope. Through the opposite slopes rise when lifting and lowering  of the handling device occurring torques in the lines on and the handling device remains stable.

In a further embodiment of the invention Sensors are provided for suspending the handling device Detection of the tension of the ligaments, especially during the Lowering the ligaments. The sensors are with a Control device in connection with the determination of the Release of the tension in the gripping and depositing position of the Handling device. Both when taking up coils or Intermediate layers as well as when placing the coils or Intermediate layers decreases the tension of the tapes when one Gripper of the handling device the gripping or storage position has reached. If the belts when lowering the Handling devices become limp, this is due to sensors determined and reported to the control device. Through this the lowering of the handling device is stopped. The Handling device has reached its desired position.

The invention will be explained in greater detail on the basis of exemplary embodiments explained.

It shows

Fig. 1a, the inventive device for handling of coils during the recording of a coil at the end of a cheese-producing textile machine,

FIG. 1b, the apparatus of the invention when depositing an intermediate layer on a layer of palletised coils,

Fig. 2, the handling device, ready to receive a liner,

Fig. 3a shows the handling device, ready to receive a coil,

FIG. 3b, the handling device with a measure taken by the gripper for the coil bobbin,

Fig. 3c is a view of the gripper for the coils is increased,

FIG. 4a is a handling device, in which the gripper is slidably arranged for the coils relative to the gripper for the intermediate layers, with the gripper for the coils in the rest position during transport of an intermediate layer,

FIG. 4b, the handling device of FIG. 4a in the transport of a coil,

Fig. 5 is a handling device in which the gripper tools are designed as magnets on the gripper for the intermediate layers, and

Fig. 6 is a handling device in which the gripping tools are designed as gripper fingers on the gripper for the intermediate layers.

Fig. 1 shows a view of the device 1 according to the invention for handling of coils and intermediate layers of a coil receiving palletizer 2, producing at the end of a cheese-textile machine 3 is arranged. Only the features contributing to the explanation of the invention are shown and described. The textile machine 3 is not shown here. It can be both a spinning and a winding machine. A conveyor device 4 , for example an endless conveyor belt, runs along this cross-wound bobbin, which wraps around a deflection roller 5 at the end of the textile machine. 6 coils 7 , here cylindrical cross-wound bobbins, are transported to a removal position 8 on this conveyor belt in the transport direction. There, at the end of the conveyor belt, a device 9 is arranged which pivots the coils 7 transported into the removal position 8 into a position 7 ', as indicated by the arrow 10 , in which they are held ready for reception by a handling device of the device 1 . The device 9 for pivoting the coil 7 has in this embodiment a mandrel 11 which engages the sleeve 12 of the coil 7 and the controlled by a control device 14 by means of a control line 13 a drive 13 is pivoted so that the coil in the position 7 'is for inclusion by the handling device. This exemplary embodiment of a tilting device for bobbins can be replaced by any other device which pivots a cross-wound bobbin into a position which enables it to be picked up by a handling device.

Only a few carriers 15 of the steel construction of the palletizing device 2 are indicated. These carriers 15 carry a track 16 for a crane-like device for handling the coils, consisting of a bridge 17 running on the track 16 with a trolley 18 which can be moved along this bridge 17 . The bridge 17 runs with rollers 19 on the track 16 . In one of the rollers 19 , a drive 20 is indicated, which can be controlled via a control line 20 a by the control device 14 with respect to the corresponding direction of rotation and thus the direction of transport. The trolley 18 runs with rollers 21 on the bridge 17th In one of the rollers 21 , a drive 22 is indicated, which can also be controlled by the control device 14 via a control line 22 a with respect to the transport direction. The palletizing device 2 is comparable to a palletizing device as is known from DE 43 41 926 A1.

The parts of the palletizer assembly 2 shown in FIG. 1a and FIG. 1b, form constructively a single unit. The designations of the figures Fig. 1a and Fig. 1b are intended to indicate that the device 1 for handling coils during two different activities, in Fig. 1a when handling a coil and in Fig. 1b when handling an intermediate layer, are shown. The corresponding grippers are used for these different activities.

The device 1 for handling coils consists of the handling device 23 that carries the gripper 24 for the coils and the gripper 25 for the intermediate layers.

The handling device 23 hangs on four flat strips, of which the strips 26 a to 26 c can be seen in FIG. 1 a, and the flat strip 26 d facing the viewer in FIG. 1 b has been omitted. The flat belts are wound up in the trolley 18 by a winding device 27 for lifting the handling device 23 in the arrow direction 28 and for lowering the handling device 23 in the arrow direction 29 . The winding drums 30 for the tapes are driven centrally by a drive 31 and are connected to one another via bevel gear transmissions 32 so that all four tapes are driven simultaneously in the same direction at the same speed. For this purpose, the drive 31 is controlled by the control device 14 with respect to the direction of rotation and speed of rotation via a control line 31 a.

The bands 26 a to 26 d are each at an angle of 90 ° to one another and form an acute angle 34 with the vertical coordinate 33 , which opens towards the winding device 27 . Between the bands 26 a to 26 d, arranged around the vertical coordinate 33 , the supply lines for the energy supply 35 , for example for electricity, negative pressure and compressed air, and for the signal transmission 36 are designed as interleaved helical lines provided with opposite slopes. This arrangement suppresses the torques generated by the respective lines when lifting and lowering the handling device 23 .

In Fig. 1a, the gripper 25 is folded up for the intermediate layers and thus releases the bobbin gripper 24 free. The coil gripper 24 is positioned just above the sleeve 12 'of the coils 7 ' tilted in the receiving position. After the bobbin has been picked up, the handling device 23 is moved by moving the bridge 17 in the direction of the arrow 37 from the position for picking up the bobbins into a position for depositing the bobbins on the pallets.

The diameter, ie the circumference around the outline of the handling device 23 , viewed in the direction of the vertical coordinate 33 , corresponds at most to the diameter ds of the smallest coil 7 to be handled. This makes it possible to deposit the coils on the wheels and in particular in the corners of the pallet without the handling device coming into contact with the construction of the palletizing device.

In FIG. 1b, the device 1 is shown for the handling of coils and intermediate layers in the region of the palletizer 2, in which the cheeses are stored on a pallet and where the intermediate layers held ready for covering the cheese. A stack 38 of intermediate layers 39 is indicated in FIG. 1b. The intermediate layers 39 are deposited between the supports 15 in such a way that the L-profile of the supports simultaneously serves as a stop and orientation when storing the intermediate layers.

In Fig. 1b, a palette is further illustrated with 40 deposited thereon cross coil 7 in partial view. Each layer 41 of coils is covered by an intermediate layer 39 . The stacks 38 of the intermediate layers and the pallet 40 of the cross-wound bobbins, which are arranged one above the other for the viewer, are one behind the other when viewed in the viewing direction. They are arranged at the end of the textile machine 3 , behind the conveyor 4 .

In Fig. 1b, the device 1 for handling spools and intermediate layers has gripped an intermediate layer 39 with its gripper 25 for the intermediate layers and places the intermediate layer on a layer 41 of cross-wound bobbins 7 which has just been deposited. The gripper 25 for the intermediate layers 39 has two foldable halves 42 a and 42 b, each of which is equipped with vacuum suction heads 43 as gripping tools. For gripping and handling the intermediate layer 39 , the gripper halves 42 a and 42 b can be folded in the direction of arrow 46 from the rest position 44 in FIG. 1 a to the handling position 45 in FIG. 1 b.

In Fig. 2, the device 1 for handling coils and intermediate layers is shown and explained in its structure. The handling device 23 hangs on the four flat belts 26 a to 26 d, which are wound up and unwound on the winding drums 30 , which are accommodated in the trolley 18 . Each winding drum is connected to its two adjacent winding drums, which are offset by 90 ° to it, via a bevel gear 32 . The bevel gear mechanism ensures that all four winding drums 30 , which are driven by the drive motor 31 , simultaneously rotate in the same direction with the same number of revolutions per unit of time. This prevents the handling device 23 from tilting or skewing during lifting and lowering.

The handling device 23 has a housing 47 in which the devices for actuating the gripping tools are accommodated. The housing 47 hangs the four flat strips 26 a to 26 d. The flat strips are each fastened to a fixed drum 48 in an upper region of the housing 47 . They are guided around half of the drum in the lower area and then attached to the drum in the outer area. The diameter of the drum is selected so that the flat belts can nestle against the contour of the drum when the handling device 23 is raised and lowered, and optimum belt guidance is thereby achieved.

In order to be able to determine whether the handling device 23 has reached a gripping or depositing position, a sensor 49 can be arranged at least in one of the drums 48 , with which the release of the tension in one of the flat strips, in the present exemplary embodiment of the flat strip 26 a, is determined can be. The release of the voltage signals that the handling device 23 can no longer move downwards and has reached its gripping or depositing position. The decrease in the voltage that is registered by the sensor 49 is communicated via the signal line 49 a to the control device 14 , which then stops the unwinding of the flat strips 26 a to 26 d.

On the housing 47 , rotatably mounted about a horizontal axis 50 , the two gripper halves 42 a and 42 b of the gripper 25 are fastened for the intermediate layers. The gripper halves 42 a and 42 b are actuated by means of a pneumatic cylinder 51 , the piston 52 of which acts on an actuating mechanism 53 . The actuating mechanism 53 consists of two connecting straps 54 a and 54 b, each of which is articulated on the one hand to the end 55 of the piston 52 and on the other hand in each case to one of the gripper halves 42 a and 42 b.

In the present exemplary embodiment according to FIG. 2, the gripper halves 42 a and 42 b are folded into the handling position 45 . In this position, the gripper 25 carries an intermediate layer 39 with its vacuum suction heads 43 for the intermediate layers. These are adjustably arranged within the gripper halves 42 a and 42 b, as indicated by the dashed position 43 ', on the one hand to adapt the position of the vacuum suction heads 43 to the storage pattern of the coils to be deposited, which are formed in the intermediate layers, and on the other hand, during the handling of the intermediate layers to achieve a stable equilibrium.

The vacuum suction heads 43 are connected via flexible vacuum lines 56 to valves 57 , not shown here, which are accommodated in the housing 47 and which in turn are connected to the power supply, the vacuum line 35 and can be controlled by the control device 14 via a signal line 57 a .

If the intermediate layers have been deposited on a layer 39 cheeses, the valves 57 are operated via the control line 57 a and the deposited intermediate layer released by the vacuum suction heads 43. 39 Then the gripper halves 42 a and 42 b can be folded back from their handling position 45 into the rest position 44 . For this purpose, the piston 52 is retracted in the direction of arrow 58 in the pneumatic cylinder 51 and thereby actuates the actuating mechanism 53 . Characterized the gripper halves 42 a and 42 b are pivoted back about their common axis 50 in the arrow direction 59 in the rest position 44 , as shown in Fig. 1a. The pneumatic cylinder 51 is actuated via the control device 14 by means of the control line 51 a. Via this control line 51 a, a valve 60 , not shown here, is actuated between one of the supply lines 35 , the line for excess pressure 35 , and a supply line 61 to the pneumatic cylinder 51 .

In FIG. 2, the gripper 25 is enclosed for the intermediate layer 39 of the gripper 24 for the coils in the handling position 45th It is in its rest position 62 , above the handling position 45 of the gripper 25 .

The gripper 24 for the coils is actuated by a further pneumatic cylinder 63 arranged in the housing 47 . The piston 64 is connected to an actuating mechanism 65 for the gripper 24 , which is shown in more detail in FIG. 3b. The pneumatic cylinder 63 is connected to a pressure line of the supply lines 35 by means of a line 67 via an intermediate valve 66 . The valve 66 can be controlled by the control device 14 via the signal line 63 a.

Fig. 3a shows the handling device 23 with being folded in the rest position 44 the gripper 25 for the intermediate layer 39. In this position of the gripper 25 for the intermediate layers, the gripper 24 for the coils is in its handling position 68 .

In Fig. 3a the situation is shown that the gripper 24 for the coils is positioned directly above the opening of a sleeve 12 of a coil 7 for immersion in the direction of arrow 69 .

In Fig. 3b the situation is shown that the gripper is immersed for 24 for the coils in the sleeve 12 of a coil 7. In FIG. 3b also the structure of the gripper 24 is illustrated for the coils. The actuating mechanism 65 for gripping the coils is constructed as follows: At the end of the piston 64 there is a plate 70 with a contour rounded at the edge. The plate 70 is connected to three gripper fingers 71 arranged at an angle of 120 °. These gripper fingers are each rotatably mounted about a joint 72 in a block 80 in the housing 47 of the handling device 23 . Block 80 supports head 78 . The plate 70 engages with its edge in a recess 73 of the gripper fingers 71 . In Fig. 3 the piston 64 has been moved in the direction of arrow 74 downward. As a result, the gripper fingers 71 have each been pivoted outward about their joint 72 in the direction of arrow 75 . They are now with their finger end 76 on the inner wall of the sleeve 12 .

The gripper fingers 71 are arranged in slots 77 of a head 78 in the present exemplary embodiment. This head 78 with its frustoconically shaped tip facilitates the insertion of the fingers 71 of the gripper 25 into the sleeves 12 of the coils 7 .

The Fig. 3c shows a plan view of the head 78 to the at rest position of gripper fingers 71st

If a coil 7 has been placed on a pallet, the piston 64 is pulled back into the cylinder 63 in the direction of the arrow 79 ( FIG. 3b). The plate 70 is raised and pivots the gripper fingers 71 about the joints 72 against the direction of the arrow 75 back into the head 78 , so that the sleeve 12 is released. In this position of the gripper fingers 71 , the handling device 23 can be raised along the vertical coordinate 33 , so that the deposited bobbin is released.

In FIGS. 4a and 4b, a further embodiment of the handling device is shown for the handling of the coils and intermediate layers. In this embodiment, the gripper for the intermediate layers is firmly connected to the housing of the handling device. The gripper for the coils, on the other hand, is to be moved from the rest position, which lies above the gripper for the intermediate layers, to a handling position, which lies below the gripper for the intermediate layers, compared to the gripper for the intermediate layers along the vertical coordinate. In this exemplary embodiment, too, only the features contributing to the explanation of the invention are shown and described. The features which correspond to the previous exemplary embodiment are provided with the same reference symbols.

The handling device 123 , like the handling device of the previous exemplary embodiment, hangs on four flat belts 26 a to 26 d. Here, too, the flat belts 26 a to 26 d are fastened to drums 148 in order to achieve optimal belt guidance by appropriately fitting the belts to the drums during lifting and lowering and thus during the changing opening angle of the belts.

Since the gripper 125 for the intermediate layers 39 is firmly connected to the housing 147 of the handling device 123 , the actuating mechanism required for the previous exemplary embodiment is missing. In Fig. 4a the situation is shown that the gripper 125 is available for the intermediate layers in the handling position 145th With its vacuum suction heads 143 , which are each connected to a vacuum line 156 , it carries an intermediate layer 39 . The vacuum suction heads 143 are in the respective gripper halves 142 a and 142 b to adjust to the storage pattern and to produce stable equilibrium, the intermediate layers 39 were adjustable, as indicated by the dashed representations 143 '. The gripper 124 for the coils is in its rest position 162 .

Two pneumatic cylinders are provided for actuating the gripper 124 for the coils. The pneumatic cylinder 163 serves to actuate the gripper fingers 171 to grip the coils. In their rest position 162 , the gripper fingers 171 are hidden in the head 178 . The actuation mechanism 165 ( FIG. 4b) corresponds in structure to the actuation mechanism of the previous exemplary embodiment. As can be seen from FIG. 4b, the piston 164 of the pneumatic cylinder 163 likewise carries a plate 170 which engages in a recess 173 of a gripper finger 171 . The gripper finger 171 is mounted in a joint 172 in a block-shaped body 180 . This block also carries the head 178 , which facilitates the insertion of the finger ends 176 into the sleeves 12 of the coils 7 . The pressure line 167 leads, as is not shown in more detail here, to a valve which can be controlled by the control device 14 , which establishes a connection to the energy supply, which is likewise not shown here.

In order to move the gripper 124 for the coils from its rest position 162 shown in FIG. 4a to the handling position 168 shown in FIG. 4b along the vertical coordinate 33 , a further pneumatic cylinder 181 is provided. This pneumatic cylinder 181 is also connected via a line 182 to a valve (not shown here), which establishes a connection to the energy supply (not shown here) and can be controlled by the control device 14 .

The piston 183 of the pneumatic cylinder 181 carries a plate 184 , on which the block 180 with the actuating mechanism 165 and the head 178 with the gripper fingers 171 hang, for example by means of webs 185 . In the present exemplary embodiment, the cylinder 163 is connected to the webs 185 by means of webs 186 , so that it can be lifted and lowered with the lifting and lowering of the gripper 124 of the coils.

In FIG. 4b, the gripper 124 has been lowered for the coil in its handling position 168th For this purpose, the piston 183 was pushed out of the cylinder 181 in the direction of the arrow 187 along the vertical coordinate 33 until the head 178 was completely immersed in the sleeve 12 of a coil. As already described above, the slackening of the flat strips, in the present exemplary embodiment of the flat strip 26 a, can also be determined by means of a sensor 149 in this exemplary embodiment. The slackening of the flat strips signals the control device 14 , to which the signal is fed via the signal line 149 a, that the gripper 124 for the coils has reached its handling position 168 . The lowering of the handling device 123 is stopped. The piston 164 is then extended in the direction of the arrow 188 and the gripper fingers 171 are actuated, each of which clings to the inside of the sleeve 12 with its finger end 176 . In the state shown in FIG. 4, the handling device 123 is able to handle a coil 7 .

In FIG. 5 another embodiment for the formation of a gripping tool is shown for the intermediate layers. The gripping tools are designed as magnets 90 on the gripper 25 for the intermediate layers 39 . At the points at which the gripper 25 is used, ferromagnetic inserts 91 are let into the surface of the intermediate layer 39 and are attracted by the magnets 90 of the gripper 25 . The electromagnets 90 can be switched on or off by the control device 14 via the energy supply lines 92 , depending on whether an intermediate layer 39 is to be lifted or stored. To match the storage pattern of coils and to produce stable equilibrium, the intermediate layers 39 , the magnets 90 are arranged in the respective gripper halves 42 a and 42 b adjustable, as indicated by the dashed representations 90 '.

Fig. 6 shows another embodiment for the formation of a gripping tool for the intermediate layers to a handling device 23rd In the present exemplary embodiment, the gripper 25 has 39 gripping tools for the intermediate layers, which are designed as gripper fingers 95 . These gripper fingers 95 can be actuated, for example, by means of electromagnets 96 , which are each arranged in the gripper halves 42 a and 42 b. The gripper fingers 95 can for example engage in tabs 97 which are arranged on the surface of the intermediate layers 39 . The gripper fingers 95 are actuated by switching the magnetic coils 96 on and off via the current supply lines 98 and are controlled by the control device 14 .

Claims (14)

1. Device for handling coils on a palletizing device receiving coils by means of a handling device which can be moved in three mutually perpendicular coordinates and with which both the coils and the intermediate layers covering the palletized coils can be handled, characterized in that on the handling device ( 23 ; 123 ) a gripper ( 24 ; 124 ) provided exclusively for handling the coils ( 7 ) and a gripper ( 25 ; 125 ) provided exclusively for handling the intermediate layers ( 39 ) are arranged such that both grippers ( 24 , 124 ; 25 , 125 ) are arranged on the same vertical coordinate ( 33 ) that a lower handling position ( 45 , 68 ; 145 , 168 ) and an overlying rest position ( 44 , 62 ; 144 , 162 ) are provided for both grippers with respect to their positions relative to one another are, with only one of the grippers in the handling position ( 45 , 68 ; 145 , 168 ). 2. Device according to claim 1, characterized in that the two grippers ( 24 , 25 ) are arranged pivotable relative to one another. 3. Apparatus according to claim 1, characterized in that the two grippers ( 124 , 125 ) are arranged displaceably against each other. 4. The device according to claim 2, characterized in that the gripper ( 25 ) for the intermediate layers ( 39 ) about an axis ( 50 ) perpendicular to the vertical coordinate ( 33 ) from its rest position ( 44 ) in the handling position ( 45 ) is pivotable and vice versa. 5. The device according to claim 4, characterized in that the gripper ( 25 ) for the intermediate layers ( 39 ) in its handling position ( 45 ) encloses the gripper ( 24 ) for the coils ( 7 ). 6. Device according to one of claims 1 to 5, characterized in that the gripper ( 25 ) for the intermediate layers ( 39 ) has gripping tools which are designed as gripper fingers ( 95 ). 7. Device according to one of claims 1 to 5, characterized in that the gripper ( 25 ) for the intermediate layers ( 39 ) has gripper tools which are designed as magnets ( 90 ). 8. Device according to one of claims 1 to 5, characterized in that the gripper ( 25 ; 125 ) has gripping tools which are designed as vacuum suction heads ( 43 ; 143 ). 9. Device according to one of claims 7 or 8, characterized in that the gripping tools ( 43 ; 90 ; 143 ) on the gripper ( 25 ; 125 ) for the intermediate layers ( 39 ) with respect to the surface of the intermediate layers ( 39 ) for changing the Distance to each other ( 43 '; 90 '; 143 ') are arranged. 10. Device according to one of claims 1 to 9, characterized in that seen in the direction of the vertical coordinate ( 33 ), the diameter (ie) of the circumference around the outline of the handling device ( 23 ) at most the diameter (ds) of the smallest coil to be handled ( 7 ) corresponds. 11. The device according to claim 1 to 10, characterized in that the handling device ( 23 ; 123 ) with the two grippers ( 24 , 124 ; 25 , 125 ) for lifting and lowering on four flat belts arranged at 90 ° to each other ( 26 a, 26 b, 26 c, 26 d) is suspended in the device ( 1 ) and that a winding device ( 27 ) for the tapes ( 26 a, 26 b, 26 c, 26 d) is provided, with which all four tapes together in same length can be wound up and unwound. 12. The apparatus according to claim 11, characterized in that the tapes ( 26 a, 26 b, 26 c, 26 d) run obliquely from the winding device ( 27 ) for the tapes to the handling device ( 23 ; 123 ) that they each with of the vertical coordinate ( 33 ) form an acute angle ( 34 ) which opens towards the winding device ( 27 ). 13. Device according to one of claims 10 to 12, characterized in that sensors ( 49 ; 149 ) are provided for detecting the tension of the strips ( 26 a, 26 b, 26 c, 26 d) and that the sensors ( 49 ; 149 ) are connected to a control device ( 14 ) for determining the reduction in tension in the gripping and depositing position of the handling device ( 23 ; 123 ). 14. The device according to one of claims 1 to 13, characterized in that the lines provided for the energy supply ( 35 ) and the lines provided for signal transmission ( 36 ) between the device ( 1 ) and the handling device ( 23 ; 123 ) along of the vertical coordinate ( 33 ) are designed as helical lines which are laid one inside the other and provided with an opposite slope to suppress the torques generated by the respective lines when the handling device ( 23 ; 123 ) is being raised and lowered.