EP0755357B1 - Procede et dispositif permettant de prelever un objet et de le transferer d'un premier poste de travail a un deuxieme - Google Patents

Procede et dispositif permettant de prelever un objet et de le transferer d'un premier poste de travail a un deuxieme Download PDF

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Publication number
EP0755357B1
EP0755357B1 EP96904012A EP96904012A EP0755357B1 EP 0755357 B1 EP0755357 B1 EP 0755357B1 EP 96904012 A EP96904012 A EP 96904012A EP 96904012 A EP96904012 A EP 96904012A EP 0755357 B1 EP0755357 B1 EP 0755357B1
Authority
EP
European Patent Office
Prior art keywords
grasper
unit
gripper
support
support means
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
EP96904012A
Other languages
German (de)
English (en)
Other versions
EP0755357A1 (fr
Inventor
Hagen Gämmerler
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.)
Individual
Original Assignee
Individual
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from DE19504686A external-priority patent/DE19504686A1/de
Application filed by Individual filed Critical Individual
Publication of EP0755357A1 publication Critical patent/EP0755357A1/fr
Application granted granted Critical
Publication of EP0755357B1 publication Critical patent/EP0755357B1/fr
Anticipated expiration legal-status Critical
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
    • B65H31/00—Pile receivers
    • B65H31/30—Arrangements for removing completed piles
    • B65H31/3036—Arrangements for removing completed piles by gripping the pile
    • B65H31/3045—Arrangements for removing completed piles by gripping the pile on the outermost articles of the pile for clamping the pile
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2301/00—Handling processes for sheets or webs
    • B65H2301/40—Type of handling process
    • B65H2301/42—Piling, depiling, handling piles
    • B65H2301/422—Handling piles, sets or stacks of articles
    • B65H2301/4224—Gripping piles, sets or stacks of articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2301/00—Handling processes for sheets or webs
    • B65H2301/40—Type of handling process
    • B65H2301/42—Piling, depiling, handling piles
    • B65H2301/422—Handling piles, sets or stacks of articles
    • B65H2301/4224—Gripping piles, sets or stacks of articles
    • B65H2301/42242—Gripping piles, sets or stacks of articles by acting on the outermost articles of the pile for clamping the pile
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2402/00—Constructional details of the handling apparatus
    • B65H2402/30—Supports; Subassemblies; Mountings thereof
    • B65H2402/35—Supports; Subassemblies; Mountings thereof rotating around an axis
    • B65H2402/351—Turntables

Definitions

  • the invention relates to a device according to the preamble of Claim 7.
  • Gripper device 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.
  • 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 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.
  • the task is characterized by the features of Claim 7 resolved.
  • the support means over a predetermined Distance, essentially parallel to the lower one Gripper unit can be moved controlled.
  • the support means on the Gripper device arranged.
  • 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.
  • 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.
  • 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.
  • the jack of the Pawl mechanism in the locked position by means of a spring drawn.
  • control bracket is in the essentially ⁇ -shaped, the laterally directed Leg of the ⁇ each on a support rail are fixed and the arc of the ⁇ at its end area the Jack carries.
  • the cam of the turntable moves during the forward movement the gripper device into the ⁇ arc and latches at the end of the arch with the pawl.
  • the support means designed as a piston-cylinder arrangement.
  • the Support means by a piston-cylinder arrangement or the like. controlled are.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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).
  • the lower gripper unit 5 has slits in the longitudinal direction Pipe or U-profile carrier 14 as gripper parts (see Fig. 7).
  • Pipe or U-profile carrier 14 as gripper parts (see Fig. 7).
  • Support rails 8 trained support means added and guided in it.
  • 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 ⁇ whose side Leg 19 each rigidly connected to a support rail 8 are.
  • the arc 20 of the ⁇ 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.
  • 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.
  • 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.
  • 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.
  • the gripper units 4, 5 gripped the stack 12 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.
  • the lower gripper unit provided with an overrun ramp, which when driving under lifting the stack up a bit.
  • the support means as support rails in the as Tubes-formed rods 14 of the lower gripper unit 5 arranged.
  • these support rails are increasingly released and push themselves under those moved to the left in FIG. 1 Stack 12.
  • 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).
  • 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).
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • Fig. 13 is the embodiment shown in Fig. 12 shown in top view.
  • 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.
  • 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.
  • the gripper device moves into the second Collection station and in this way pushes the object 12 in the second station.
  • 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 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.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Basic Packing Technique (AREA)
  • Specific Conveyance Elements (AREA)
  • Manipulator (AREA)
  • De-Stacking Of Articles (AREA)
  • Forming Counted Batches (AREA)

Claims (8)

  1. Procédé de manutention d'un objet (12), en particulier d'une pile de produits de papier posés les uns sur les autres, au moyen d'un dispositif de préhension (3) qui présente une unité de préhension supérieure et une unité de préhension inférieure (4, 5) qui sont agencées sur une table rotative (6) et susceptibles d'être déplacées à l'horizontale et à la verticale, comprenant les étapes suivantes :
    a) approche du dispositif de préhension (3) vers l'objet de sorte que, sans qu'elles soient en contact, l'unité de préhension supérieure (4) est agencée au-dessus de l'objet et l'unité de préhension inférieure (5) au-dessous de l'objet,
    b) saisie de l'objet (12) par les unités de préhension,
    c) retour du dispositif de préhension (3) avec l'objet saisi,
    d) rotation de la table rotative (6),
    e) avancée du dispositif de préhension (3),
    f) relâchement des unités de préhension (4, 5), et
    g) retour du dispositif de préhension (3),
    caractérisé en ce que le dispositif de préhension (3), après avoir saisi l'objet (12), tire celui-ci au retour sur un moyen d'appui (7) sur lequel il reste au repos pendant la rotation de la table rotative (6) et depuis lequel il est de nouveau redescendu lorsque le dispositif de préhension (3) est avancé.
  2. Procédé selon la revendication 1, caractérisé en ce que le dispositif de préhension (3) est encore maintenu fermé pendant que l'objet est descendu.
  3. Procédé de manutention d'un objet (12), en particulier d'une pile de produits de papier posés les uns sur les autres, au moyen d'un dispositif de préhension (3) qui présente une unité de préhension supérieure et une unité de préhension inférieure (4, 5) qui sont agencées sur une table rotative (6) et susceptibles d'être déplacées à l'horizontale et à la verticale, comprenant les étapes suivantes :
    a) approche du dispositif de préhension (3) vers l'objet de sorte que, sans qu'elles soient en contact, l'unité de préhension supérieure (4) est agencée au-dessus de l'objet et l'unité de préhension inférieure (5) au-dessous de l'objet,
    b) saisie de l'objet par les unités de préhension (4, 5),
    c) retour du dispositif de préhension (3) avec l'objet saisi,
    d) rotation de la table rotative (6),
    e) avancée du dispositif de préhension (3),
    f) relâchement des unités de préhension (4, 5), et
    g) retour du dispositif de préhension (3),
    caractérisé en ce que pendant l'approche du dispositif de préhension (3), un prolongement d'appui (7) est sorti au moins sur l'unité de préhension inférieure, lequel prolonge l'unité de préhension inférieure (5) vers l'avant, de sorte qu'il est offert à l'objet un plus grand appui.
  4. Procédé selon la revendication 3, caractérisé en ce que le prolongement d'appui est de nouveau rentré avec la progression de l'approche du dispositif de préhension (3) vers un poste de travail ou de dépôt.
  5. Procédé selon l'une ou l'autre des revendications 3 et 4, caractérisé en ce que le prolongement d'appui (7) ne participe pas à l'action de saisie.
  6. Procédé selon au moins l'une quelconque des revendications 3 à 5, caractérisé en ce que le prolongement d'appui (7) est un peu abaissé avant ou pendant la rentrée.
  7. Dispositif de préhension d'un objet (12), en particulier d'une pile de produits de papier posés les uns sur les autres, au moyen d'un dispositif de préhension (3) qui présente une unité de préhension supérieure et une unité de préhension inférieure (4, 5) qui sont agencées sur une table rotative (6) et susceptibles d'être déplacées à l'horizontale, au moins l'unité de préhension supérieure (4) étant susceptible d'être déplacée à la verticale, caractérisé par des moyens d'appui (7) agencés sur le même plan ou légèrement au-dessous de l'unité de préhension inférieure (5), sur lesquels l'objet vient en appui, lors du retour après la saisie.
  8. Dispositif selon la revendication 7, caractérisé en ce que les moyens d'appui (7) sont susceptibles d'être mis en fonctionnement et hors fonctionnement, et forment en mode de fonctionnement un prolongement de l'unité de préhension inférieure (5).
EP96904012A 1995-02-13 1996-02-07 Procede et dispositif permettant de prelever un objet et de le transferer d'un premier poste de travail a un deuxieme Expired - Lifetime EP0755357B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE19504686 1995-02-13
DE19504686A DE19504686A1 (de) 1994-08-04 1995-02-13 Verfahren und Vorrichtung zum Entnehmen und Übergeben eines Gegenstands aus einer ersten Station an eine zweite
PCT/EP1996/000512 WO1996025355A1 (fr) 1995-02-13 1996-02-07 Procede et dispositif permettant de prelever un objet et de le transferer d'un premier poste de travail a un deuxieme

Publications (2)

Publication Number Publication Date
EP0755357A1 EP0755357A1 (fr) 1997-01-29
EP0755357B1 true EP0755357B1 (fr) 1999-12-08

Family

ID=7753794

Family Applications (1)

Application Number Title Priority Date Filing Date
EP96904012A Expired - Lifetime EP0755357B1 (fr) 1995-02-13 1996-02-07 Procede et dispositif permettant de prelever un objet et de le transferer d'un premier poste de travail a un deuxieme

Country Status (5)

Country Link
US (1) US5911557A (fr)
EP (1) EP0755357B1 (fr)
JP (1) JPH11505497A (fr)
AT (1) ATE187413T1 (fr)
WO (1) WO1996025355A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DK0968947T3 (da) * 1998-07-03 2002-11-25 Ferag Ag Anordning til stabling af flade genstande
CA3060165C (fr) 2011-10-24 2023-02-28 Remedi Technology Holdings, Llc Systeme de conditionnement pour distributeur pharmaceutique et procede associe
CN109179040B (zh) * 2018-09-21 2020-06-02 南京理工技术转移中心有限公司 一种打印机的出纸收集装置

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Publication number Priority date Publication date Assignee Title
US3085501A (en) * 1960-10-06 1963-04-16 Bunn Co B System for automatically tying bundles
SE421781B (sv) * 1980-01-28 1982-02-01 Wamac Machinery Ab Anordning vid en maskin serskilt avsedd for lastning av losa tidningsbuntar pa en lastpall
CH658639A5 (de) * 1981-06-05 1986-11-28 Stobb Inc Verfahren und anordnung zum selbsttaetigen foerdern von bogen von einer druckerpresse zu einer bogenbindevorrichtung.
DE3221351A1 (de) * 1982-06-05 1983-12-08 Icoma Packtechnik GmbH, 7590 Achern Transportvorrichtung fuer papiersackpakete
DE8316127U1 (de) * 1983-06-01 1983-12-29 Icoma Packtechnik GmbH, 7590 Achern Transportvorrichtung fuer papiersackpakete
US4588070A (en) * 1984-11-13 1986-05-13 The Dow Chemical Company Bag transfer device
US4787810A (en) * 1987-09-04 1988-11-29 Cawley Wesley D Method and apparatus for handling stacks of loose sheet material
ES2035635T3 (es) * 1988-12-31 1993-04-16 System Gmbh Dispositivo cogedor.
DD288582B5 (de) * 1989-10-18 1993-06-03 Brehmer Buchbindereimaschinen Drehbare einrichtung zum horizontalen verschieben eines stapels
DE9103498U1 (de) * 1991-03-21 1991-06-27 Manitec AG, Emmen Einzelplatzregallager
DE4241800A1 (de) * 1992-12-11 1994-06-16 Busch Gerhard Gmbh Zuführvorrichtung für aus einer Vielzahl von Einzelblättern bestehenden Nutzenstapeln zur Weiterverarbeitung, mit einem einem Zuführschieber zugeordneten Zwischenblech
DE4427703A1 (de) * 1994-08-04 1996-02-15 Hagen Gaemmerler Vorrichtung zum Entnehmen eines Stapels von flächenähnlichen Produkten aus einer Sammelstelle

Also Published As

Publication number Publication date
WO1996025355A1 (fr) 1996-08-22
EP0755357A1 (fr) 1997-01-29
JPH11505497A (ja) 1999-05-21
ATE187413T1 (de) 1999-12-15
US5911557A (en) 1999-06-15

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