EP0509960B1 - Lagereinrichtung für die Lagerung von Gütern in Wickelform - Google Patents

Lagereinrichtung für die Lagerung von Gütern in Wickelform Download PDF

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Publication number
EP0509960B1
EP0509960B1 EP92810240A EP92810240A EP0509960B1 EP 0509960 B1 EP0509960 B1 EP 0509960B1 EP 92810240 A EP92810240 A EP 92810240A EP 92810240 A EP92810240 A EP 92810240A EP 0509960 B1 EP0509960 B1 EP 0509960B1
Authority
EP
European Patent Office
Prior art keywords
gripper
roll
cores
rolls
storage
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP92810240A
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German (de)
English (en)
French (fr)
Other versions
EP0509960A1 (de
Inventor
Hans-Ulrich Stauber
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
IPT Weinfelden AG
Original Assignee
IPT Weinfelden AG
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Filing date
Publication date
Application filed by IPT Weinfelden AG filed Critical IPT Weinfelden AG
Publication of EP0509960A1 publication Critical patent/EP0509960A1/de
Application granted granted Critical
Publication of EP0509960B1 publication Critical patent/EP0509960B1/de
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Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H29/00—Delivering or advancing articles from machines; Advancing articles to or into piles
    • B65H29/006—Winding articles into rolls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/10—Handled articles or webs
    • B65H2701/19—Specific article or web
    • B65H2701/1932—Signatures, folded printed matter, newspapers or parts thereof and books

Definitions

  • the invention is in the field of storage technology and relates to a gripper and a storage device and their parts according to the independent claims for the storage of goods in winding form, in particular of printed products in winding form.
  • Printed products often have to be temporarily stored and rearranged between processing steps since in many cases a processing step provides an intermediate product with a speed and a sequence that does not match the speed and sequence of the next processing step.
  • Storage systems are known for the intermediate storage of printed products that are designed as a shingled stream and that are further processed as a shingled stream, in which the shingled streams are either formed into bars or coils and stored in this form.
  • Storage in the form of a wrap has proven to be advantageous since the shingled stream shape is retained, since the wraps can simply be stacked on top of one another for storage, since, apart from the winding cores, no storage aids are necessary and since the winding and unwinding can be fully automated.
  • the shingled streams designed by one processing step are wound up on winding cores and the windings formed thereby are stored. If necessary, the wraps are outsourced and unwound again.
  • the winding cores which are equipped with an integrated winding tape, are used during winding, go to the warehouse with the winding and are released again when unwinding.
  • the empty winding cores must also be temporarily stored between being released during unwinding and being used during winding.
  • EP-A-0 505 320 by the same applicant describes a process for the intermediate storage and rearrangement of printed products in stream form.
  • the process which is assumed to be known here, is characterized in that, for optimal use of the storage space, both the printed product reels and the empty winding cores are put together to form storage units and that these storage units have essentially the same dimensions, so that they are stored in interchangeable storage spaces can.
  • the circuit of the winding cores is completely integrated into the storage of the printed product rolls, in such a way that printed product rolls and empty winding cores are handled in the same way and that the same devices are used for these handling operations, if possible, for such an integrated storage process it is necessary , Coils of printed products, winding cores and devices used for handling exactly match each other.
  • a movable spool magazine for textile machines is known for example from DE-C-35 18 901.
  • Useful storage units for the printed product winding are, for example, lying pairs of coils, for the empty winding cores a number of cylinders consisting of several stacking cores that are loosely arranged next to each other in a rosette, for example rosettes of six times three winding cores. These storage units can be stacked on top of each other be stored without the need for additional storage facilities such as pallets or racks.
  • the storage facility should require a minimum of devices for storage and retrieval. These devices should be able to be controlled by a central intelligence and no modification work should be necessary to set them up for the handling of windings or the handling of winding cores.
  • the bearing device according to the invention consists only of at least one bearing device with a gripper and a number of essentially hollow cylindrical winding cores.
  • the diameter D of the largest possible printed product roll and the diameter d of the empty winding core are such that there is an arrangement, for example an essentially circular arrangement, of several empty winding cores whose outer diameter is smaller or the same size as the winding diameter D (see FIG. 1) .
  • the cylinder height 1 of a winding core is in any case smaller or the same size as the height L of a lying winding, which corresponds to the width of the wound printed products (see FIG. 2).
  • the printed products are wound up in such a way that the winding core is located in the middle of the width of the wound printed products.
  • the winding core is essentially designed as a hollow cylinder with holding means arranged in its interior, on which it can be gripped by the device.
  • the annular end faces of the Wickeik core are designed such that several winding cores can be stacked on top of one another in a stable manner.
  • the storage device belonging to the storage device according to the invention essentially consists of a means of transport and a gripper arranged thereon in a manner secured against rotation.
  • the means of transport can be a vehicle or a crane.
  • the gripper is essentially designed as a six-pointed star, the symmetry of which is adapted to the symmetry of closely stacked stacks with the same circular layout, and the arms of which extend only over the outside diameter of a wound roll so that they move between such stacks can.
  • the gripper has clamping arrangements on the arms, with which he can pinch at least one roll from its periphery and advantageously also inner roll driver arrangements with which he supports the roll core of a clamped roll.
  • core driver arrangements arranged in a keel, for example, with which it can grip and take along a substantially circular arrangement of individual empty winding cores or of winding cores standing one on top of the other.
  • the core driver arrangements are movably arranged on the gripper arms or intermediate arms in such a way that they can be removed from their area for the handling of coils
  • the means of transport and the gripper are designed in such a way that the gripper grasps lying reels from above and deposits the reels again in this position.
  • the gripper can also be used in connection with a means of transport that can turn the wound roll (s) from a lying position to a standing position. Such a device can then also be used to change windings at winding stations or at corresponding winding changer frames.
  • Figure 1 shows a section of a floor plan of a warehouse, in which the winding W and winding core rosettes R are stored closely next to each other in stacks and stored and retrieved from above by a storage device with a gripper G.
  • the winding W and the winding core rosettes R are stored in stacks and bar such that the storage spaces for winding W and for winding core rosettes R are interchangeable and that the storage space is used as well as possible.
  • These two conditions lead to a storage arrangement with tightly packed, circular storage spaces, each with the diameter D of the largest possible winding.
  • the stored rolls should normally have the largest possible diameter D for reasons of optimal utilization. Coils with a smaller diameter can also be stored as long as they do not endanger the stability of the stack.
  • Such a narrow arrangement results in six points of contact with other stacks for a stack which is located between other stacks and a free space F in the form of a six-armed star (single hatched area). If a gripper is to be able to encompass coils, which are stored in such a narrow manner, from their periphery, they must be able to reach into the six essentially triangular spaces arranged around one coil, that is to say they should not exceed a coil in plan by more than these six triangles.
  • grippers G with a star of six uniformly arranged gripper arms (for example in the form of the double hatched area) or gripper arms with intermediate angles of 60 °, 120 ° or 180 °.
  • Advantageous shapes for the star of gripper arms are 6 arms with intermediate angles of 60 °, 4 arms with intermediate angles of 60 ° and 120 °, 3 arms with intermediate angles of 120 °.
  • Two arms with intermediate angles of 180 ° are also conceivable, but lead, particularly in the case of heavy windings, to insufficient stability of the wound windings, since the width of the clamping jaws is also limited by the dimensions of the triangular free spaces.
  • a transport device which has an unchangeable orientation and on which the gripper is attached in a rotationally secured manner.
  • a transport device which has an unchangeable orientation and on which the gripper is attached in a rotationally secured manner.
  • a transport device is, for example, a storage vehicle guided on rails, which operates the storage from a ravine with an extendable arm perpendicular to the rail, or, as indicated in FIG. 1, a surface crane with a rail 2 and, for example, displaceable in the y direction a carrier running thereon in the x direction, on which the gripper G is fastened in a rotationally secure manner.
  • FIG. 2 shows a schematic section through an exemplary embodiment of the gripper according to the invention, cut parallel to the axis of rotation in such a way that on the right-hand side of the figure a clamping arrangement 30 for gripping coils W (only shown as a winding half), on the left-hand side a core driver arrangement 40 for gripping winding cores WK is visible.
  • the gripper consists essentially of a central piece 10 and the already mentioned gripper arm star 20. It is advantageous to arrange the gripper arm star 20 so that it can move axially to a limited extent, for example between the two stops 11.1 and 11.2, on the central piece 10.
  • the central piece 10 has fastening means 12, with which the gripper is fastened to the transport device, and connections for power means, which are necessary for the movements of the gripper parts and their control.
  • the gripper arm star 20 has gripper arms 21 which extend over the outer circumference of a roll to be gripped.
  • the gripper arms 21 carry clamping arrangements 30 at their ends. They can also carry core driver arrangements 40, or else these are arranged on intermediate arms between the gripper arms.
  • the clamping arrangements 30 are driven by a suitable drive, which is arranged, for example, in each gripper arm 21 (not shown in the figure), and can be moved in the radial direction (arrow R), namely between a radius that is somewhat larger than the radius of the largest possible winding and the radius of the smallest possible wrap.
  • the drive for this movement is designed in such a way that it can exert a pressing force on the gripped roll that is able to hold the roll.
  • Each clamping arrangement 30 has at least one curved clamping jaw 31. If the gripper should be able to grip a plurality of windings lying one on top of the other, it is advantageous to equip the clamping arrangement 30 with a corresponding number of jaws.
  • FIGS. 3 and 4 a clamping arrangement for two superposed coils is to be described, the clamping jaws of which are connected to one another via a tilting device in such a way that it is possible to grasp two coils with different diameters in a certain area.
  • winding driver arrangements 50 can be attached to stabilize the wound roll. These work together with holding means 60 inside the core, which partially reduce the inside diameter of a winding core.
  • the winding driver assemblies 50 can be moved by a corresponding drive (not shown in the figure) (arrow Q) in such a way that they change the essential outer diameter of the central piece 10 such that the central piece 10 is inserted into the core after a corresponding movement (Q) Winding driver assemblies 50 but can no longer be executed.
  • corresponding winding driver arrangements 50 are advantageously mounted at corresponding heights of the central piece 10 for each winding. Their height is such that when the gripper arm star 20 rests on the lower stop 11.2, they lie below the holding means 60 of the corresponding winding cores WK in such a way that they can carry part of the winding weight with them.
  • the core driver assemblies 40 also work together with the holding means 60 of the winding cores and are movable by a corresponding drive (not visible in the figure) in the same way (arrow S) as the winding driver assemblies 50 of the central piece 10. Since the winding cores WK are significantly less heavy than Winding, it is sufficient, even if several winding cores are to be gripped, to grasp only the lowest with one core driver. So that the cores nevertheless remain stable on one another, their circular end faces are designed accordingly for stable stackability, for example step-like or as oblique surfaces.
  • the core driver arrangements 40 are not in the way when handling windings, they have to be operated with the aid of a further drive (in the Figure not shown) be movable such that they can be moved out of the area of the winding. For this purpose, they can be folded against the gripper arm star 20 (arrow T) or moved vertically upward.
  • the core driver arrangement 40 to be folded away does not protrude radially beyond the gripper arm star 20 and also that it does not extend further downward than the central piece 10 in its folded-down state
  • the central part can carry the control sensors for all downward movements of the gripper.
  • the shortening of the core driver arrangements 40 can be driven with a separate drive (not shown in the figure) or with the drive for the movement S.
  • the core drivers and the winding drivers work together with corresponding holding means inside the core. They could also be designed as jaws and pressed against the inner surface of the cores by drives.
  • the variant with the holding means is obvious, since the cores are also fastened to the winding stations and on the winding changers with the aid of such inner holding means.
  • the various drives required for the movements of the gripper parts are advantageously pneumatic or hydraulic linear drives.
  • sensors are also required, the function of which will be described below and for which commercial end-range and pressure sensors (depending on the function) can be used.
  • the sensor S1 has different functions and must be designed accordingly. Its corresponding signal is used to slow the gripper's downward movement when a stack of coils, an array of cores or a pad comes into its area. Conversely, its signal can be used to accelerate to normal speed when these things leave its range. If the empty gripper is erroneously lowered against the floor, the same sensor must send an emergency stop signal when the gripper stands on the surface. For safety reasons, it is also advantageous to monitor the pneumatic or hydraulic pressure actuating the drives in the area of the corresponding connection with a pressure sensor S4.
  • FIGS. 3 and 4 show a further exemplary embodiment of the gripper according to the invention in detail, as a section corresponding to FIG. 2 ( Figure 3) and as a top view ( Figure 4).
  • It is a gripper that can grip a lying pair of coils or a coil, the diameters of the two coils of the pair of coils being able to be different in a certain range. He can also grab a rosette of six by three winding cores on top of each other.
  • the function of the gripper is largely the same as the more general gripper functions already described in connection with the preceding figures.
  • the parts of the gripper that have the same function as already described are also labeled with the same item numbers.
  • the gripper essentially consists of a central piece 10 and a six-arm gripper arm star 20 movably attached to it axially between the stops 11.1 and 11.2.
  • the position of the gripper arm star 20 relative to the central piece 10 is monitored by the sensor S2 in the area of the lower stop 11.2.
  • a clamping arrangement 30 is attached to each gripper arm 21 and is moved radially by the linear drive Z2.
  • the drive Z2 is shown in its fully retracted position, which corresponds to the outermost position of the clamping arrangement 30.
  • the clamping jaws 31.1 and 31.2 are pivotally attached to a sliding lever 34 by means of pivoting levers 32.1 / 2 and 33.1 / 2 and pivoting axes A, B, C, D, E and F such that they lie vertically one above the other with different diameters of the winding to be gripped Position (shown in solid lines) can be pivoted into a swivel position (shown in dashed lines).
  • the position of the slide lever 34 is monitored at its end which is operatively connected to the drive Z2 by the sensor S9.
  • the winding driver arrangement 50 essentially consists of two times three driver flaps 51.1 and 51.2 which are provided with movement templates 52.1 and 52.2 such that when rollers 53.1 and 53.2, which are operatively connected to a drive Z1, are moved upwards, they are folded out. If the rollers 53.1 and 53.2 move back, the driver flaps 51.1 and 51.2 are no longer held in their unfolded position and are moved back into their inner position by the holding means 60 of the winding cores WK when the central piece 10 is moved upwards. So that this return movement can take place smoothly and smoothly, it is advantageous to design the holding means 60 of the winding cores in such a way that they form a surface 61 which forms a stump jacket which is coaxial with the core cylinder and which narrows towards the top.
  • the holding means in the center of the hollow cylinder and to provide them with two opposing surfaces 61 and 61 '.
  • the holding means can extend continuously around the inner circumference of the hollow cylinder or can be interrupted.
  • the positions of the driver flaps 51.1 and 51.2 are monitored by sensors S5.1 / 2 and S10.1 / 2. Sensors S1 and S7 with functions already described are also attached to the central piece 10.
  • the core driver assemblies 40 are attached to intermediate arms 22, which are arranged between the arms 21 of the gripper arm star 20.
  • four of the total of six such arrangements 40 are shown, namely 40.1 and 40.2 in the fully extended and spread position, 40.3 in a vertically downward, non-extended, non-spread position and 40.4 in the open position, as they are for handling of wraps is taken.
  • the core driver arrangement 40 has a drive Z3 which is arranged in the intermediate arm 22 and which pivots a core driver 41 about an axis J such that it lies parallel to the intermediate arm 22 when the drive Z3 is extended (40.4) and is oriented vertically downward when the drive is retracted (40.1 / 2/3).
  • the core driver 41 consists essentially of a telescopic tube 43, a spreading device 44 with, for example, three spreading legs and a drive Z4, which extends the telescopic tube 43 when extended and spreads the spreading device 44, collapses the spreading device when it is retracted and shortens the telescopic tube.
  • the weight of the cores acts in such a way that when the telescopic tube is shortened, the spreading device is first folded in and only then is the telescopic tube shortened.
  • the positions of the driver are monitored by sensors S8, S12, S6 and S11.
  • FIG. 5 shows a diagram from which the function of the gripper according to FIGS. 3 and 4 can be seen.
  • Columns I to V refer to different work steps (I take two windings, II take one winding, III put down the winding, IV take the core rosette, V put the core rosette).
  • the movement modes of the crane K are also given below, which are fast (fast), slow (slow) or stop (stop).
  • V designates the valves responsible for controlling the drives. For safety reasons, such valve arrangements are provided for the drives Z1, Z2 and Z4, which block the drives in the current position in the event of a power failure.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Replacement Of Web Rolls (AREA)
  • Packaging Of Machine Parts And Wound Products (AREA)
  • Specific Conveyance Elements (AREA)
  • Discharge By Other Means (AREA)
  • Control And Other Processes For Unpacking Of Materials (AREA)
  • Feeding, Discharge, Calcimining, Fusing, And Gas-Generation Devices (AREA)
  • Stacking Of Articles And Auxiliary Devices (AREA)
  • De-Stacking Of Articles (AREA)
  • Control Of Metal Rolling (AREA)
  • Magnetic Resonance Imaging Apparatus (AREA)
EP92810240A 1991-04-18 1992-04-01 Lagereinrichtung für die Lagerung von Gütern in Wickelform Expired - Lifetime EP0509960B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH116391 1991-04-18
CH1163/91 1991-04-18

Publications (2)

Publication Number Publication Date
EP0509960A1 EP0509960A1 (de) 1992-10-21
EP0509960B1 true EP0509960B1 (de) 1995-06-21

Family

ID=4203954

Family Applications (1)

Application Number Title Priority Date Filing Date
EP92810240A Expired - Lifetime EP0509960B1 (de) 1991-04-18 1992-04-01 Lagereinrichtung für die Lagerung von Gütern in Wickelform

Country Status (8)

Country Link
EP (1) EP0509960B1 (ru)
JP (1) JPH07223732A (ru)
AT (1) ATE124014T1 (ru)
CA (1) CA2066342C (ru)
DE (1) DE59202588D1 (ru)
ES (1) ES2077385T3 (ru)
FI (1) FI100789B (ru)
RU (1) RU2092414C1 (ru)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2611851C2 (ru) * 2013-01-30 2017-03-01 Лисец Аустриа Гмбх Устройство для укладывания в стопу и извлечения из стопы пластинообразных объектов
EP3197803B1 (en) * 2014-09-23 2018-08-01 Futura S.p.A. Method for handling parent reels in paper converting plants
CN106945854B (zh) * 2017-05-03 2023-03-14 河南科技大学 一种自动称重装袋机
FR3060548B1 (fr) 2017-07-04 2019-01-25 Loic Alarcon Dispositif de support simultane de plusieurs rouleaux de matiere imprimable
FR3091862B1 (fr) 2019-01-21 2021-02-19 Alarcon Loic Dispositif de support de rouleaux de matière imprimable avec éléments de support réglables en translation

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DD214352A1 (de) * 1983-03-22 1984-10-10 Siegfried Schulz Verfahren zur uebergabe zylindrischer koerper an uebergabeeinheiten
DE3405138A1 (de) * 1984-02-14 1985-08-22 Babcock Textilmaschinen GmbH, 2105 Seevetal Vorrichtung zur entnahme von papphuelsen aus einem stapel
DE3518901C1 (en) * 1985-05-25 1987-01-02 Palitex Project Co Gmbh Movable bobbin magazine for textile machines

Also Published As

Publication number Publication date
RU2092414C1 (ru) 1997-10-10
DE59202588D1 (de) 1995-07-27
JPH07223732A (ja) 1995-08-22
ES2077385T3 (es) 1995-11-16
CA2066342A1 (en) 1992-10-19
EP0509960A1 (de) 1992-10-21
ATE124014T1 (de) 1995-07-15
FI921719A0 (fi) 1992-04-16
CA2066342C (en) 1997-08-05
FI100789B (fi) 1998-02-27
FI921719A (fi) 1992-10-19

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