EP0816272B1 - Gripper for flat stacked objects - Google Patents

Gripper for flat stacked objects Download PDF

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Publication number
EP0816272B1
EP0816272B1 EP97109230A EP97109230A EP0816272B1 EP 0816272 B1 EP0816272 B1 EP 0816272B1 EP 97109230 A EP97109230 A EP 97109230A EP 97109230 A EP97109230 A EP 97109230A EP 0816272 B1 EP0816272 B1 EP 0816272B1
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EP
European Patent Office
Prior art keywords
stack
accordance
support
receiving space
guide
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
EP97109230A
Other languages
German (de)
French (fr)
Other versions
EP0816272A1 (en
Inventor
Peter Gämmerler
Peter Gauges
Michael Taffertshofer
Helmut Krickl
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.)
Gaemmerler AG
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Gaemmerler AG
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Publication date
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Publication of EP0816272A1 publication Critical patent/EP0816272A1/en
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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
    • B65H31/32—Auxiliary devices for receiving articles during removal of a completed 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
    • B65H31/00—Pile receivers
    • B65H31/30—Arrangements for removing completed piles
    • 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
    • B65H31/00—Pile receivers
    • B65H31/30—Arrangements for removing completed piles
    • B65H31/3054—Arrangements for removing completed piles by moving the surface supporting the lowermost article of the pile, e.g. by using belts or rollers
    • B65H31/3063—Arrangements for removing completed piles by moving the surface supporting the lowermost article of the pile, e.g. by using belts or rollers by special supports like carriages, containers, trays, compartments, plates or bars, e.g. moved in a closed loop
    • 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
    • B65H2301/4225—Handling piles, sets or stacks of articles in or on special supports

Definitions

  • the present invention relates to a stack gripper according to the preamble of claim 1.
  • stack grippers are known and are used to stack printed products palletizing with the help of a robotic arm.
  • the stack gripper attached to the end of a robot arm and takes over Stack from a feeder to then place the stack on a Put the pallet down.
  • a stack gripper of the type mentioned at the outset is in DE 42 03 118 A1 described, in which a storage area is arranged below the stack support is. Because the stack support swivels around a horizontal axis to release the stack is a proper discard of the Stack not always possible without the proper shape of the stack to destroy.
  • WO 95/29865 describes a device for stack formation known, in which the stack support for storing the stack by a Horizontal movement is movable out of the stack receiving space. However, this device has the disadvantage that due to the horizontal Shifting the stack support creates an offset of the stack orientation.
  • the stack falls within of the stack gripper no longer at a specific one Way because the stacking pad is in the area of the lower end of the Leadership is arranged. Since the pile support is supported by a Horizontal movement is movable out of the stack receiving space, this can be "pulled away" from under the stack, the Stack is still held on all sides by the guide. Consequently the bottom of the stack just slides off the guide, however, does not make a falling motion.
  • the stack gripper according to the invention is very compact because the The height of the stack gripper is approximately the maximum stack height equivalent.
  • the operation of the invention Stack gripper very quiet, since no flaps or Fingers are present at very high speed would have to be folded against a stop to get one To release the fall path.
  • the stacking support can be at least one as a support element Adjusting cylinder, preferably have a telescopic cylinder.
  • a telescopic cylinder By using such a cylinder the stack support completely from the stack receiving space remove it without it sticking far into the room. This is of particular advantage because of the work area of the robot should always be kept as small as possible should.
  • a telescopic cylinder that parts are prevented when the stacking support is open protrude from the outside of the stacking gripper so that the Keep the robot's work area as small as possible can be.
  • the present invention is a band-like pad created in a stack gripper that extends from the bottom "unroll" of the stack without a relative movement between the stacking pad and the bottom product of the stack takes place.
  • This allows the stacking support remove from the stack receiving space without any friction, whereby the stack remains absolutely dimensionally stable.
  • This Stacking can by a telescopic cylinder or also be moved into the receiving space by a push chain.
  • a push chain is composed of individual links and can be made from the straight form in just one Bend towards. If such a push chain is without band-like support used as a support element, so can the stack on such a push chain or several Push chains are stored.
  • a particularly advantageous embodiment of the invention is given when the breakpoint of the upper run of the Support tape when pulling out the lower run by one predetermined path against the direction of movement of the stack support is movable.
  • the stacking pad i.e. of the actuating cylinder surrounded by the support tape the stack does not fall through. However, it follows a certain height offset at the bottom of the stack, when the stacking pad is pulled out of the stacking space becomes. This height offset leads to that the side of the stack from which the stack holder is located moved away, some offset occurs, i.e. the Products with their edges are not exactly on top of each other.
  • the embodiment described above can however, the upper run of the support tape when pulling out the lower run by a predetermined path, namely the Offset, opposite to the direction of movement of the stacking support move, causing the lower stack area, which is not completely aligned, together with the upper run against the direction of movement of the stacking support shifts.
  • This will make the bottom stack area again properly aligned so that the outer edges of the Form a stack of vertical surfaces.
  • the sliding attachment the stop of the upper run can be, for example with a spring-loaded attachment of the stopping point achieve.
  • the breakpoint can also be controlled to one certain time shifted by the predetermined distance be, the time can be chosen so that the resulting offset is optimally compensated, for example approximately in the middle of the pull-out movement of the stacking support.
  • At least one hold-down device within the stack receiving space provided that is adjustable against the top of the stack is. This ensures that the (very fast) Movement of the robot arm no deformation of the stack occurs and that no products, such as single sheets, detach from the top of the stack.
  • the all-round leadership is not closed, but is formed, for example, by corner rails, remains Between these corner rails there is an air space which, under certain circumstances the top products at a fast Motion whirls up.
  • the hold-down device within the entire stack receiving space is vertically adjustable, because then also with varying Stack height or for stacks consisting of just a few Products, hold down is possible.
  • the hold-down viewed from above, is arranged above the stack support. In this case it runs the force that the hold-down device exerts is exactly vertical to the stacking support so that the stack is not deflects but between the hold-down device and the stack support is clamped.
  • Hold-down results in a particularly advantageous Procedure, because in this case the hold-down too then press the discarded stack when the Stack gripper is already raised.
  • the hold-down will So moved in the opposite direction to the stack gripper movement and put pressure on the stack until the Hold-down has reached its lower end stop. hereby the stack is held together as a compact package, until the stack gripper is completely up from the stack is lifted off. Any friction between the products and the leadership does not have a negative impact on the Stack alignment. Also has a possible draft that is caused by the start of the stack gripper, no influence on the alignment of the stack.
  • a Signal generator can be provided at the lower end of the Hold-down device is arranged.
  • a signal generator can be held down by the hold-down device when lifting the Stack gripper has reached its lower end point Generate signal, for example with the help of Robot controller generates a height measurement. So you can the exact stack height after each stacking determine by using the respective robot controller Height value is read out when the signal transmitter responds.
  • This represents one compared to ultrasonic sensors or the like represents a much more reliable solution averaging individually determined height measurements for a location, this mean value being used for the following Stack position is used.
  • Two hold-down devices are preferred provided that each cooperate with a signal generator. This allows a achieve good height measurement.
  • the leadership of the stack receiving space with aligned recesses are provided for removal allow a feed device from the stack receiving space.
  • This also allows products with a very small size Transport the format from the stacking gripper as the all-round Guidance can be made to the product and nevertheless removing the feed direction from the stack receiving space is possible.
  • the figure shows a perspective view of a stack gripper according to the invention.
  • the stack gripper consists of an upper part 10, on the top of which a circular flange 12 is attached is to attach the stack gripper to a robot arm.
  • the guides are each designed as L-shaped rails in cross section, which extend vertically from the upper part 10 and that lead the stack at its four corners. hereby good leadership is achieved on the one hand, Friction between stack and guide reduced.
  • the guide rails 14, 16, 18, 20, which is a stack receiving space open at the bottom 22 form, are in the upper part 10 each parallel slidably mounted, so that on the one hand Format adjustment can take place and on the other hand the stack receiving space expanded to insert a stack and after Introducing a stack can be reduced.
  • the postponement the guide rails are made by parallel guides, that are not shown in detail.
  • Stacking support 24, 26 there is one at the lower end of the guide rails Stacking support 24, 26 on which the (not shown) Stack lies flat with its entire length or width.
  • the level support of the stack is important because a curved storage of the stack, for example no dimensionally stable discharge of the Stack is possible.
  • the main components of pads 24 and 26 are respectively Telescopic cylinder 28, 30, at the front end by means of a bracket a pulley 32, 34 is attached, the around a horizontal and perpendicular to the telescopic cylinder extending axis is rotatable.
  • the telescopic cylinders 28, 30 are arranged so that the front End attached pulleys 32, 34 outside the stack receiving space 22 when the cylinders are complete are retracted.
  • Telescopic cylinder 28, 30 can be seen, but are in the Practice two parallel telescopic cylinders provided at the front end of each Guide roller 32, 34 is attached.
  • the stack supports 24, 26 have in addition to the telescopic cylinders 28, 30 as a further support element, a flexible support tape 36, 38, each guided around a deflection roller 32, 34 is.
  • the free end of the respective upper run is on a breakpoint outside the stack receiving space 22 attached.
  • the lower run 37, 39 of the support bands is on the underside of the telescopic cylinder 28, 30 from the stack receiving space 22 led out and two more pulleys 40, 42 and 44, 46 out.
  • the free end of the lower strand is finally on a bracket 48, 50th fixed in place.
  • the deflection rollers 40, 44 are each stationary on the associated guides 18, 20 mounted.
  • the deflection rollers 42, 46 are on a rodless cylinder 52, 54 attached, which is parallel to the associated guide rails 18, 20 runs and is attached to this.
  • a vertical upward movement of the carriage 51, 53 is thus the lower run 37, 39 of the support bands 36, 38 from the Stack receiving space 22 removed, provided that at the same time Telescopic cylinder 28, 30 (for example by venting) be retracted.
  • a Hold-down device 56, 58 arranged, which is rod-shaped and is bent outwards so that the system is as close as possible at the edges of the stack. This will be a prevents the side of the stack from fanning out. Every hold-down is attached to a carriage 60 which by means of a linear cylinder within the stack receiving space 22 parallel to the respective guide rail 18, 20 can be moved up and down.
  • a recess 62 is provided, two each Align recesses with each other. Allow these recesses that a device that feeds the stack can also be pulled out of the stack gripper if a very small format is set. For larger ones Formats, the cutouts can also be closed, so that they don't interfere.
  • the on a (not shown) Robot arm attached stacking grabs in the area a feed device that pivots the stack (e.g. with a top and a bottom gripper) "reaches".
  • the stack gripper according to the invention is so placed in front of the feeder that the reached Stack across the stack supports 24, 26 in the stack receiving space 22 can be introduced. Because the guide rails 14, 16 and 18, 20 are sufficiently spaced that the Stack can be passed between these leaves the stack is contactless in the stack receiving space usher. After the feeder has stopped the guides 14, 16, 18 and 20 employed, so that the Surround and touch the stack on all sides. Then the Feeder pulled out of the stack gripper be so that the stack with its bottom on the Pads 24 and 26 come to rest. Depending on the the speed of the robot can, however, be the stack gripper also from the top of the stack be lowered.
  • the stack gripper After swiveling the robot arm to the desired location on the pallet, the stack gripper with a small Distance to the support surface positioned so that between the moving lower run of the support bands 36, 38 and the contact surface does not come into contact. Subsequently the telescopic cylinders 28 and 30 are vented and at the same time the lifting cylinders 52, 54 become synchronous actuated so that the carriage 51 and 53 upwards move. This movement causes the lower run 37, 39 the support bands 36, 38 on the underside of the actuating cylinder 28, 30 pulled out of the stack receiving space, whereby simultaneously shorten the actuating cylinders 28 and 30. at this process the upper run of the support tapes from the Unrolled the bottom of the stack so that the stack of the Pads 24 and 26 slide, but do not fall.
  • each Support tape 36, 38 removed from the stack receiving space 22 and the stack is properly on its base aligned at.
  • the stack gripper is then moved upwards raised while the hold-downs move in opposite directions downwards be moved and still press on the top of the stack.
  • the hold-down device 56, 58 reaches its lower end position have reached, they operate a signal generator and the Height position value is read out from the robot controller.
  • the stack gripper lifts completely the stack and is towards the transfer device moved so that the cycle can start again.
  • each carriage 51, 53 by means of a hand lever 64, 66 on an associated guide rod 68, 70 are adjusted so that the support band 36, 38 is excited.

Abstract

The device has a stack holder chamber (22) with a guide (14-20) on all four sides, and a stack support (24,26). This is positioned in the area of the lower guide ends, and moved into and out of the stack holder chamber by a horizontal movement. The stack support has at least one preferably telescopic cylinder (28,30), or a thrust chain, and at least one flexible support belt (36,38). The belt passes over a slidable deflection pulley (32,34). To move the stack support in and out, the lower belt section (37,39) is drawn out of the chamber, while the upper section is tensioned between the pulley and a fixed point outside the chamber.

Description

Die vorliegende Erfindung betrifft einen Stapelgreifer nach dem Oberbegriff des Patentanspruchs 1.The present invention relates to a stack gripper according to the preamble of claim 1.

Derartige Stapelgreifer sind bekannt und dienen dazu, Stapel von Druckprodukten mit Hilfe eines Roboterarms zu palettieren. Hierbei ist der Stapelgreifer am Ende eines Roboterarms angebracht und übernimmt den Stapel von einer Zuführvorrichtung, um den Stapel anschließend auf einer Palette abzulegen.Such stack grippers are known and are used to stack printed products palletizing with the help of a robotic arm. Here is the stack gripper attached to the end of a robot arm and takes over Stack from a feeder to then place the stack on a Put the pallet down.

Ein Stapelgreifer der eingangs genannten Art ist in der DE 42 03 118 A1 beschrieben, bei dem unterhalb der Stapelauflage eine Ablagefläche angeordnet ist. Da die Stapelauflage um eine horizontale Achse verschwenkt wird, um den Stapel freizugeben, ist ein ordnungsgemäßes Ablegen des Stapels nicht immer möglich, ohne die ordnungsgemäße Form des Stapels zu zerstören. Aus der WO 95/29865 ist eine Vorrichtung zur Stapelbildung bekannt, bei der die Stapelauflage zur Ablage des Stapels durch eine Horizontalbewegung aus dem Stapelaufnahmeraum heraus bewegbar ist. Diese Vorrichtung hat jedoch den Nachteil, daß aufgrund der horizontalen Verschiebung der Stapelauflage ein Versatz der Stapelausrichtung entsteht.A stack gripper of the type mentioned at the outset is in DE 42 03 118 A1 described, in which a storage area is arranged below the stack support is. Because the stack support swivels around a horizontal axis to release the stack is a proper discard of the Stack not always possible without the proper shape of the stack to destroy. WO 95/29865 describes a device for stack formation known, in which the stack support for storing the stack by a Horizontal movement is movable out of the stack receiving space. However, this device has the disadvantage that due to the horizontal Shifting the stack support creates an offset of the stack orientation.

Es ist deshalb ds der vorliegenden Erfindung zugrundeliegende Problem (Aufgabe), einen Stapelgreifer der eingangs genannten Art derart weiterzubilden, daß die Produktstapel absolut formstabil palettiert werden können. It is therefore the problem underlying the present invention (Task) to further develop a stack gripper of the type mentioned at the beginning, that the product stacks can be palletized in a dimensionally stable manner.

Die Lösung dieser Aufgabe erfolgt durch die Merkmale des Anspruchs 1 und insbesondere dadurch, daß die Stapelauflage im Bereich des unteren Endes der Führung angeordnet ist und daß die Stapelauflage bewegbar ist, wobei die Stapelauflage zumindest ein flexibles Auflageband aufweist.This object is achieved by the features of claim 1 and in particular in that the stack support in the area of the lower End of the guide is arranged and that the stack support is movable is, wherein the stack support has at least one flexible support band.

Durch die erfindungsgemäße Lösung fällt der Stapel innerhalb des Stapelgreifers überhaupt nicht mehr um einen bestimmten Weg, da die Stapelauflage im Bereich des unteren Endes der Führung angeordnet ist. Da die Stapelauflage durch eine Horizontalbewegung aus dem Stapelaufnahmeraum bewegbar ist, läßt sich diese unter dem Stapel "wegziehen", wobei der Stapel noch von der Führung allseitig gehalten wird. Somit gleitet die Unterseite des Stapels lediglich von der Führung, führt jedoch keine Fallbewegung durch.With the solution according to the invention, the stack falls within of the stack gripper no longer at a specific one Way because the stacking pad is in the area of the lower end of the Leadership is arranged. Since the pile support is supported by a Horizontal movement is movable out of the stack receiving space, this can be "pulled away" from under the stack, the Stack is still held on all sides by the guide. Consequently the bottom of the stack just slides off the guide, however, does not make a falling motion.

Der erfindungsgemäße Stapelgreifer baut sehr kompakt, da die Höhe des Stapelgreifers in etwa der maximalen Stapelhöhe entspricht. Außerdem ist der Betrieb des erfindungsgemäßen Stapelgreifers sehr geräuscharm, da keine Klappen oder Finger vorhanden sind, die mit sehr hoher Geschwindigkeit gegen einen Anschlag geklappt werden müßten, um einen Fallweg freizugeben.The stack gripper according to the invention is very compact because the The height of the stack gripper is approximately the maximum stack height equivalent. In addition, the operation of the invention Stack gripper very quiet, since no flaps or Fingers are present at very high speed would have to be folded against a stop to get one To release the fall path.

Vorteilhafte Ausführungsformen der Erfindung sind in der Beschreibung, den Zeichnungen und den Unteransprüchen beschrieben.Advantageous embodiments of the invention are in the Description, the drawings and the subclaims described.

So kann die Stapelauflage als Auflageelement zumindest einen Stellzylinder, vorzugsweise einen Teleskopzylinder aufweisen. Durch Verwendung eines derartigen Zylinders läßt sich die Stapelauflage aus dem Stapelaufnahmeraum vollständig entfernen, ohne daß diese dann weit in den Raum hineinsteht. Dies ist deshalb von besonderem Vorteil, da der Arbeitsbereich des Roboters stets möglichst klein gehalten werden soll. Durch Verwendung eines Teleskopzylinders kann jedoch verhindert werden, daß bei geöffneter Stapelauflage Teile von der Außenseite des Stapelgreifers vorstehen, so daß der Arbeitsbereich des Roboters so klein wie möglich beibehalten werden kann.For example, the stacking support can be at least one as a support element Adjusting cylinder, preferably have a telescopic cylinder. By using such a cylinder the stack support completely from the stack receiving space remove it without it sticking far into the room. This is of particular advantage because of the work area of the robot should always be kept as small as possible should. However, by using a telescopic cylinder that parts are prevented when the stacking support is open protrude from the outside of the stacking gripper so that the Keep the robot's work area as small as possible can be.

Durch die vorliegende Erfindung ist eine bandartige Auflage in einem Stapelgreifer geschaffen, die sich von der Unterseite des Stapels "abrollen" läßt, ohne daß eine Relativbewegung zwischen der Stapelauflage und dem untersten Produkt des Stapels stattfindet. Hierdurch läßt sich die Stapelauflage ohne jede Reibung aus dem Stapelaufnahmeraum entfernen, wodurch der Stapel absolut formstabil bleibt. Diese Stapelauflage kann durch einen Teleskopzylinder oder auch durch eine Schubkette in den Aufnahmeraum bewegt werden. Eine derartige Schubkette ist aus einzelnen Gliedern zusammengesetzt und läßt sich aus der Geradenform in nur einer Richtung krümmen. Wird eine solche Schubkette ohne bandartige Auflage als Auflageelement eingesetzt, so kann der Stapel auf einer solchen Schubkette oder mehreren Schubketten abgelegt werden. Beim Herausbewegen der Schubkette aus dem Stapelaufnahmeraum wird diese um jeweils eine Umlenkrolle oder eine Gleitführung mit horizontaler Achse umgelenkt und außerhalb des Stapelaufnahmeraums vertikal nach oben bewegt. Hierdurch läßt sich, wie auch bei einem Stellzylinder, die Stapelauflage unter dem Stapel wegziehen, so daß dieser von der Auflage gleitet, jedoch nicht fällt.The present invention is a band-like pad created in a stack gripper that extends from the bottom "unroll" of the stack without a relative movement between the stacking pad and the bottom product of the stack takes place. This allows the stacking support remove from the stack receiving space without any friction, whereby the stack remains absolutely dimensionally stable. This Stacking can by a telescopic cylinder or also be moved into the receiving space by a push chain. Such a push chain is composed of individual links and can be made from the straight form in just one Bend towards. If such a push chain is without band-like support used as a support element, so can the stack on such a push chain or several Push chains are stored. When moving the Push chain from the stack receiving space is this by each a pulley or a sliding guide with horizontal Axis deflected and vertical outside of the stack receiving space moved up. This allows, as with an actuating cylinder, pull the stack support away from the stack, so that it slides off the support, but not falls.

Besonders vorteilhaft ist es, wenn das Auflageband um eine Umlenkrolle oder eine Gleitführung geführt ist, wobei das obere Trum des Auflagebandes zwischen der Umlenkrolle und einem Haltepunkt außerhalb des Stapelaufnahmeraumes gespannt ist. Gleichzeitig ist das untere Trum des Auflagebandes zum Herausbewegen der Stapelauflage aus dem Stapelaufnahmeraum herausziehbar. Bei dieser Ausführungsform wird das Auflageband aus dem Stapelaufnahmeraum entfernt, indem das freie Ende des unteren Trums aus dem Stapelaufnahmeraum gezogen wird. Hierdurch verschiebt sich die verschiebbare Umlenkrolle und rollt das obere Trum des Auflagebandes von der Unterseite des Stapels ab, wobei jedoch keine Relativbewegung zwischen dem Auflageband und der Stapelunterseite stattfindet. Besonders vorteilhaft ist es, wenn das freie Ende des unteren Trums an einem vorzugsweise kolbenstangenlosen Hubzylinder befestigt ist, der parallel zu der Führung verfahrbar ist. Diese Ausführungsform sorgt für einen kompakten Aufbau, da der kolbenstangenlose Hubzylinder parallel zu einer Schiene der Führung verlaufen kann und somit ebenfalls nicht weit in den Raum vorsteht. Gleichzeitig kann die Führungsschiene als Befestigung für den Hubzylinder verwendet werden.It when the support tape by a Deflection roller or a sliding guide is guided, which upper run of the support belt between the guide roller and a breakpoint outside the stack receiving space is. At the same time, the lower run of the support tape is Moving the stack support out of the stack receiving space pulled out. In this embodiment Support tape removed from the stack receiving space by the free end of the lower run from the stack receiving area is pulled. This shifts the slidable Deflection roller and rolls the upper run of the support belt from the bottom of the stack, but none Relative movement between the support band and the Stack bottom takes place. It is particularly advantageous if the free end of the lower run on one preferably rodless lifting cylinder is attached, which is parallel can be moved to the guide. This embodiment provides for a compact design because the rodless Lift cylinders run parallel to a guide rail can and therefore does not protrude far into the room. At the same time, the guide rail can be used as an attachment for the lifting cylinder can be used.

Eine besonders vorteilhafte Ausbildung der Erfindung ist dann gegeben, wenn der Haltepunkt des oberen Trums des Auflagebandes bei Herausziehen des unteren Trums um einen vorbestimmten Weg entgegen der Bewegungsrichtung der Stapelauflage verschiebbar ist. Beim Entfernen der Stapelauflage, d.h. des von dem Auflageband umgebenen Stellzylinders führt der Stapel zwar keine Fallbewegung durch. Jedoch ergibt sich an der Unterseite des Stapels ein gewisser Höhenversatz, wenn die Stapelauflage aus dem Stapelaufnahmeraum herausgezogen wird. Dieser Höhenversatz führt dazu, daß sich an derjenigen Seite des Stapels, von der sich die Stapelaufnahme wegbewegt, ein gewisser Versatz auftritt, d.h. die Produkte liegen dort mit ihren Kanten nicht exakt übereinander. Durch die oben beschriebene Ausführungsform kann jedoch das obere Trum des Auflagebandes bei Herausziehen des unteren Trums um einen vorbestimmten Weg, nämlich um den Versatz, entgegen der Bewegungsrichtung der Stapelauflage verschoben werden, wodurch sich der untere Stapelbereich, der nicht ganz fluchtend ausgerichtet ist, zusammen mit dem oberen Trum entgegen der Bewegungsrichtung der Stapelauflage verschiebt. Hierdurch wird der untere Stapelbereich wieder ordnungsgemäß so ausgerichtet, daß die Außenkanten des Stapels vertikale Flächen bilden. Die verschiebbare Befestigung des Haltepunktes des oberen Trums läßt sich beispielsweise durch eine gefederte Befestigung des Haltepunktes erzielen. Der Haltepunkt kann jedoch auch gesteuert zu einem bestimmten Zeitpunkt um den vorbestimmten Weg verschoben werden, wobei sich der Zeitpunkt so wählen läßt, daß der entstehende Versatz optimal kompensiert wird, beispielsweise etwa in der Mitte der Auszugsbewegung der Stapelauflage.A particularly advantageous embodiment of the invention is given when the breakpoint of the upper run of the Support tape when pulling out the lower run by one predetermined path against the direction of movement of the stack support is movable. When removing the stacking pad, i.e. of the actuating cylinder surrounded by the support tape the stack does not fall through. However, it follows a certain height offset at the bottom of the stack, when the stacking pad is pulled out of the stacking space becomes. This height offset leads to that the side of the stack from which the stack holder is located moved away, some offset occurs, i.e. the Products with their edges are not exactly on top of each other. The embodiment described above can however, the upper run of the support tape when pulling out the lower run by a predetermined path, namely the Offset, opposite to the direction of movement of the stacking support move, causing the lower stack area, which is not completely aligned, together with the upper run against the direction of movement of the stacking support shifts. This will make the bottom stack area again properly aligned so that the outer edges of the Form a stack of vertical surfaces. The sliding attachment the stop of the upper run can be, for example with a spring-loaded attachment of the stopping point achieve. The breakpoint can also be controlled to one certain time shifted by the predetermined distance be, the time can be chosen so that the resulting offset is optimally compensated, for example approximately in the middle of the pull-out movement of the stacking support.

Besonders vorteilhaft ist es, wenn das Auflageband um eine Umlenkrolle geführt ist, die am freien Ende des Stellzylinders oder der Schubkette angeordnet ist. In diesem Fall liegt der Stapel zwar auf dem Stellzylinder oder der Schubkette auf, berührt jedoch nur das dazwischenliegende Auflageband. Bei Zurückziehen des Stellzylinders oder der Schubkette rollt das Auflageband dann von der Unterseite des Stapels reibungsfrei ab. Das Gewicht des Stapels wird jedoch stets von dem Stellzylinder oder der Schubkette getragen.It when the support tape by a Deflection pulley is guided at the free end of the actuating cylinder or the push chain is arranged. In this case the stack is on the actuating cylinder or Chain, but only touches the one in between Support belt. When retracting the actuating cylinder or The chain then rolls off the support belt from the underside of the Stacks off smoothly. The weight of the stack however always carried by the positioning cylinder or the push chain.

Nach einer weiteren vorteilhaften Ausführungsform ist innerhalb des Stapelaufnahmeraums zumindest ein Niederhalter vorgesehen, der gegen die Oberseite des Stapels anstellbar ist. Hierdurch wird dafür gesorgt, daß bei der (sehr schnellen) Bewegung des Roboterarms keine Verformung des Stapels auftritt und daß sich keine Produkte, beispielsweise Einzelblätter, von der Oberseite des Stapels lösen. Insbesondere wenn die allseitige Führung nicht geschlossen ist, sondern beispielsweise durch Eckschienen gebildet ist, verbleibt zwischen diesen Eckschienen ein Luftraum, der unter Umständen die zu oberst liegenden Produkte bei einer schnellen Bewegung aufwirbelt. Besonders vorteilhaft ist es dabei, wenn der Niederhalter innerhalb des gesamten Stapelaufnahmeraumes vertikal verstellbar ist, da dann auch bei variierender Stapelhöhe oder bei Stapeln, die aus nur wenigen Produkten bestehen, ein Niederhalten möglich ist. Auch ist es vorteilhaft, wenn der Niederhalter, von oben gesehen, über der Stapelauflage angeordnet ist. In diesem Fall verläuft die Kraft, die der Niederhalter ausübt, genau senkrecht zu der Stapelauflage, so daß sich der Stapel nicht durchbiegt sondern zwischen dem Niederhalter und der Stapelauflage eingespannt ist.According to a further advantageous embodiment at least one hold-down device within the stack receiving space provided that is adjustable against the top of the stack is. This ensures that the (very fast) Movement of the robot arm no deformation of the stack occurs and that no products, such as single sheets, detach from the top of the stack. In particular if the all-round leadership is not closed, but is formed, for example, by corner rails, remains Between these corner rails there is an air space which, under certain circumstances the top products at a fast Motion whirls up. It is particularly advantageous here if the hold-down device within the entire stack receiving space is vertically adjustable, because then also with varying Stack height or for stacks consisting of just a few Products, hold down is possible. Is too it is advantageous if the hold-down, viewed from above, is arranged above the stack support. In this case it runs the force that the hold-down device exerts is exactly vertical to the stacking support so that the stack is not deflects but between the hold-down device and the stack support is clamped.

Durch den innerhalb des Stapelaufnahmeraumes vertikal verfahrbaren Niederhalter ergibt sich eine besonders vorteilhafte Verfahrensweise, da in diesem Fall der Niederhalter auch dann noch auf den abgelegten Stapel drücken kann, wenn der Stapelgreifer bereits angehoben wird. Der Niederhalter wird also gegenläufig zur Stapelgreiferbewegung nach unten gefahren und übt so lange einen Druck auf den Stapel aus, bis der Niederhalter seinen unteren Endanschlag erreicht hat. Hierdurch wird der Stapel als kompaktes Paket zusammengehalten, bis der Stapelgreifer vollständig von dem Stapel nach oben abgehoben ist. Eine etwaige Reibung zwischen den Produkten und der Führung wirkt sich somit nicht negativ auf die Stapelausrichtung aus. Auch hat ein eventueller Luftzug, der durch das Hochfahren des Stapelgreifers verursacht wird, keinen Einfluß auf die Ausrichtung des Stapels.Due to the vertically movable within the stack receiving space Hold-down results in a particularly advantageous Procedure, because in this case the hold-down too then press the discarded stack when the Stack gripper is already raised. The hold-down will So moved in the opposite direction to the stack gripper movement and put pressure on the stack until the Hold-down has reached its lower end stop. hereby the stack is held together as a compact package, until the stack gripper is completely up from the stack is lifted off. Any friction between the products and the leadership does not have a negative impact on the Stack alignment. Also has a possible draft that is caused by the start of the stack gripper, no influence on the alignment of the stack.

Nach einer besonders vorteilhaften Ausführungsform kann ein Signalgeber vorgesehen sein, der am unteren Endpunkt des Niederhalters angeordnet ist. Durch einen solchen Signalgeber läßt sich durch den Niederhalter, der beim Abheben des Stapelgreifers seinen unteren Endpunkt erreicht hat, ein Signal erzeugen, das beispielsweise unter Zuhilfenahme der Robotersteuerung einen Höhenmeßwert erzeugt. Somit läßt sich nach jedem Ablegen des Stapels die genaue Stapelhöhe ermitteln, indem aus der Robotersteuerung der jeweilige Höhenwert ausgelesen wird, wenn der Signalgeber anspricht. Dies stellt, verglichen zu Ultraschallsensoren o. dgl., eine wesentlich zuverlässigere Lösung dar. Auch lassen sich die einzelnen ermittelten Höhenmeßwerte für eine Lage mitteln, wobei dieser Mittelwert zum Ansteuern für die darauffolgende Stapellage herangezogen wird. Vorzugsweise sind zwei Niederhalter vorgesehen, die jeweils mit einem Signalgeber zusammenwirken. Hierdurch läßt sich durch Mittelwertbildung eine gute Höhenmessung erzielen.According to a particularly advantageous embodiment, a Signal generator can be provided at the lower end of the Hold-down device is arranged. With such a signal generator can be held down by the hold-down device when lifting the Stack gripper has reached its lower end point Generate signal, for example with the help of Robot controller generates a height measurement. So you can the exact stack height after each stacking determine by using the respective robot controller Height value is read out when the signal transmitter responds. This represents one compared to ultrasonic sensors or the like represents a much more reliable solution averaging individually determined height measurements for a location, this mean value being used for the following Stack position is used. Two hold-down devices are preferred provided that each cooperate with a signal generator. This allows a achieve good height measurement.

Schließlich kann die Führung des Stapelaufnahmeraumes mit fluchtenden Aussparungen versehen sein, die das Entfernen einer Zuführvorrichtung aus dem Stapelaufnahmeraum ermöglichen. Hierdurch lassen sich auch Produkte mit sehr kleinem Format von dem Stapelgreifer transportieren, da die allseitige Führung an das Produkt angestellt werden kann und trotzdem ein Entfernen der Zuführrichtung aus dem Stapelaufnahmeraum möglich ist.Finally, the leadership of the stack receiving space with aligned recesses are provided for removal allow a feed device from the stack receiving space. This also allows products with a very small size Transport the format from the stacking gripper as the all-round Guidance can be made to the product and nevertheless removing the feed direction from the stack receiving space is possible.

Nachfolgend wird die Erfindung rein beispielhaft anhand einer vorteilhaften Ausführungsform und unter Bezugnahme auf die beigefügte Zeichnung beschrieben.The invention is described below purely by way of example an advantageous embodiment and with reference to the attached drawing is described.

Die Figur zeigt eine perspektivische Ansicht eines Stapelgreifers gemäß der Erfindung.The figure shows a perspective view of a stack gripper according to the invention.

Der erfindungsgemäße Stapelgreifer besteht aus einem Oberteil 10, an dessen Oberseite ein Kreisflansch 12 angebracht ist, um den Stapelgreifer an einem Roboterarm zu befestigen. An dem Oberteil 10 sind insgesamt vier Führungen 14, 16, 18, 20 angebracht, die den Stapel allseitig führen. Die Führungen sind jeweils als im Querschnitt L-förmige Schienen ausgebildet, die sich vertikal von dem Oberteil 10 erstrecken und die den Stapel an seinen vier Ecken führen. Hierdurch wird einerseits eine gute Führung erzielt, andererseits die Reibung zwischen Stapel und Führung verringert. Die Führungsschienen 14, 16, 18, 20, die einen nach unten offenen Stapelaufnahmeraum 22 bilden, sind in dem Oberteil 10 jeweils parallel verschiebbar befestigt, so daß einerseits eine Formatverstellung erfolgen kann und andererseits der Stapelaufnahmeraum zum Einführen eines Stapels erweitert und nach Einführen eines Stapels verringert werden kann. Die Verschiebung der Führungsschienen erfolgt dabei durch Parallelführungen, die nicht näher gezeigt sind.The stack gripper according to the invention consists of an upper part 10, on the top of which a circular flange 12 is attached is to attach the stack gripper to a robot arm. A total of four guides 14, 16, 18, 20 attached, which lead the stack on all sides. The guides are each designed as L-shaped rails in cross section, which extend vertically from the upper part 10 and that lead the stack at its four corners. hereby good leadership is achieved on the one hand, Friction between stack and guide reduced. The guide rails 14, 16, 18, 20, which is a stack receiving space open at the bottom 22 form, are in the upper part 10 each parallel slidably mounted, so that on the one hand Format adjustment can take place and on the other hand the stack receiving space expanded to insert a stack and after Introducing a stack can be reduced. The postponement the guide rails are made by parallel guides, that are not shown in detail.

Am unteren Ende der Führungsschienen befindet sich eine Stapelauflage 24, 26, auf welcher der (nicht dargestellte) Stapel mit seiner gesamten Länge bzw. Breite eben aufliegt. Die ebene Auflage des Stapels ist dabei wichtig, da bei einer beispielsweise gekrümmten Lagerung des Stapels innerhalb des Stapelgreifers keine formstabile Entladung des Stapels möglich ist.There is one at the lower end of the guide rails Stacking support 24, 26 on which the (not shown) Stack lies flat with its entire length or width. The level support of the stack is important because a curved storage of the stack, for example no dimensionally stable discharge of the Stack is possible.

Die Hauptbestandteile der Auflagen 24 und 26 sind jeweils Teleskopzylinder 28, 30, an deren vorderem Ende mittels einer Halterung eine Umlenkrolle 32, 34 befestigt ist, die um eine horizontale und zum Teleskopzylinder senkrecht verlaufende Achse drehbar ist. Die Teleskopzylinder 28, 30 sind dabei so angeordnet, daß sich die an ihrem vorderen Ende befestigten Umlenkrollen 32, 34 außerhalb des Stapelaufnahmeraumes 22 befinden, wenn die Zylinder vollständig eingefahren sind. Zwar ist in der Figur jeweils nur ein Teleskopzylinder 28, 30 zu erkennen, jedoch sind in der Praxis jeweils zwei parallel nebeneinander liegende Teleskopzylinder vorgesehen, an deren vorderen Ende jeweils eine Führungsrolle 32, 34 befestigt ist.The main components of pads 24 and 26 are respectively Telescopic cylinder 28, 30, at the front end by means of a bracket a pulley 32, 34 is attached, the around a horizontal and perpendicular to the telescopic cylinder extending axis is rotatable. The telescopic cylinders 28, 30 are arranged so that the front End attached pulleys 32, 34 outside the stack receiving space 22 when the cylinders are complete are retracted. There is only one in the figure Telescopic cylinder 28, 30 can be seen, but are in the Practice two parallel telescopic cylinders provided at the front end of each Guide roller 32, 34 is attached.

Die Stapelauflagen 24, 26 weisen neben den Teleskopzylindern 28, 30 als weiteres Auflageelement ein flexibles Auflageband 36, 38 auf, das jeweils um eine Umlenkrolle 32, 34 geführt ist. Das freie Ende des jeweiligen oberen Trums ist dabei an einem Haltepunkt außerhalb des Stapelaufnahmeraumes 22 befestigt. Das untere Trum 37, 39 der Auflagebänder ist an der Unterseite der Teleskopzylinder 28, 30 aus dem Stapelaufnahmeraum 22 herausgeführt und um zwei weitere Umlenkrollen 40, 42 bzw. 44, 46 geführt. Das freie Ende des unteren Trums ist schließlich an einer Halterung 48, 50 ortsfest fixiert.The stack supports 24, 26 have in addition to the telescopic cylinders 28, 30 as a further support element, a flexible support tape 36, 38, each guided around a deflection roller 32, 34 is. The free end of the respective upper run is on a breakpoint outside the stack receiving space 22 attached. The lower run 37, 39 of the support bands is on the underside of the telescopic cylinder 28, 30 from the stack receiving space 22 led out and two more pulleys 40, 42 and 44, 46 out. The free end of the lower strand is finally on a bracket 48, 50th fixed in place.

Die Umlenkrollen 40, 44 sind jeweils ortsfest an den zugehörigen Führungen 18, 20 gelagert. Die Umlenkrollen 42, 46 sind jedoch an einem kolbenstangenlosen Zylinder 52, 54 befestigt, der parallel zu den zugehörigen Führungsschienen 18, 20 verläuft und an diesen befestigt ist. Durch eine vertikale Aufwärtsbewegung der Schlitten 51, 53 wird somit das untere Trum 37, 39 der Auflagebänder 36, 38 aus dem Stapelaufnahmeraum 22 entfernt, sofern gleichzeitig die Teleskopzylinder 28, 30 (beispielsweise durch Entlüften) eingefahren werden. Gleichzeitig rollt das obere Trum der Auflagebänder 36, 38 von der Unterseite des Stapels ab, d.h. der Stapel gleitet innerhalb des Stapelaufnahmeraums von den Auflagen 24 und 26. Wenn sich die Schlitten 51, 53 an ihrem oberen Endpunkt befinden, sind die Teleskopzylinder 28, 30 vollständig eingefahren und sowohl die Auflagebänder 36, 38 wie auch die Umlenkrollen 32, 34 befinden sich außerhalb des Stapelaufnahmeraumes. Die Stapelauflagen 24 und 26 sind dann unter dem Stapel herausgezogen worden, d.h. der Stapel liegt eben auf seiner Unterlage auf.The deflection rollers 40, 44 are each stationary on the associated guides 18, 20 mounted. The deflection rollers 42, 46, however, are on a rodless cylinder 52, 54 attached, which is parallel to the associated guide rails 18, 20 runs and is attached to this. By a vertical upward movement of the carriage 51, 53 is thus the lower run 37, 39 of the support bands 36, 38 from the Stack receiving space 22 removed, provided that at the same time Telescopic cylinder 28, 30 (for example by venting) be retracted. At the same time the upper run rolls Support tapes 36, 38 from the bottom of the stack, i.e. the stack slides from within the stack receiving space Pads 24 and 26. If the sled 51, 53 on their are the upper end point, are the telescopic cylinders 28, 30 completely retracted and both the support bands 36, 38 as well as the deflection rollers 32, 34 are outside the Stack receiving space. The stack pads 24 and 26 are then pulled out from under the stack, i.e. the stack is lying just on his pad.

An den Führungsschienen 18 und 20 ist ferner jeweils ein Niederhalter 56, 58 angeordnet, der stabförmig ausgebildet und so nach außen gebogen ist, daß die Anlage möglichst nahe an den Rändern des Stapels erfolgt. Hierdurch wird ein seitliches Auffächern des Stapels verhindert. Jeder Niederhalter ist dabei an einem Schlitten 60 befestigt, der mittels eines Linearzylinders innerhalb des Stapelaufnahmeraumes 22 parallel zu der jeweiligen Führungsschiene 18, 20 auf und ab verfahren werden kann.On the guide rails 18 and 20 is also a Hold-down device 56, 58 arranged, which is rod-shaped and is bent outwards so that the system is as close as possible at the edges of the stack. This will be a prevents the side of the stack from fanning out. Every hold-down is attached to a carriage 60 which by means of a linear cylinder within the stack receiving space 22 parallel to the respective guide rail 18, 20 can be moved up and down.

Am unteren Ende jeder Führungsschiene 14, 16, 18 und 20 ist jeweils eine Aussparung 62 vorgesehen, wobei jeweils zwei Aussparungen miteinander fluchten. Diese Aussparungen ermöglichen es, daß eine Vorrichtung, die den Stapel zuführt, auch dann aus dem Stapelgreifer herausgezogen werden kann, wenn ein sehr kleines Format eingestellt ist. Bei größeren Formaten können die Aussparungen auch verschlossen werden, damit diese nicht stören.At the lower end of each guide rail 14, 16, 18 and 20 is A recess 62 is provided, two each Align recesses with each other. Allow these recesses that a device that feeds the stack can also be pulled out of the stack gripper if a very small format is set. For larger ones Formats, the cutouts can also be closed, so that they don't interfere.

Nachfolgend wird die Funktionsweise des erfindungsgemäßen Stapelgreifers beschrieben.The mode of operation of the invention is described below Described.

Um einen Stapel auf einer Palette an der gewünschten Position abladen zu können, wird der an einem (nicht dargestellten) Roboterarm befestigte Stapelgreifer in dem Bereich einer Zuführvorrichtung geschwenkt, die den Stapel (z.B. mit einem oberseitigen und einem unterseitigen Greifer) "heranreicht". Der erfindungsgemäße Stapelgreifer wird dabei so vor der Zuführvorrichtung plaziert, daß der herangereichte Stapel quer zu den Stapelauflagen 24, 26 in den Stapelaufnahmeraum 22 eingeführt werden kann. Da die Führungsschienen 14, 16 und 18, 20 so ausreichend beabstandet sind, daß der Stapel zwischen diesen hindurchgeführt werden kann, läßt sich der Stapel berührungslos in den Stapelaufnahmeraum hineinführen. Nach Stillstand der Zuführvorrichtung werden die Führungen 14, 16, 18 und 20 angestellt, so daß diese den Stapel allseitig umgeben und berühren. Hierauf kann die Zuführvorrichtung aus dem Stapelgreifer herausgezogen werden, so daß der Stapel mit seiner Unterseite auf den Auflagen 24 und 26 zu liegen kommt. In Abhängigkeit von der der Geschwindigkeit des Roboters kann jedoch der Stapelgreifer auch von oben auf den herangereichten Stapel abgesenkt werden.To put a stack on a pallet in the desired position to be able to unload, the on a (not shown) Robot arm attached stacking grabs in the area a feed device that pivots the stack (e.g. with a top and a bottom gripper) "reaches". The stack gripper according to the invention is so placed in front of the feeder that the reached Stack across the stack supports 24, 26 in the stack receiving space 22 can be introduced. Because the guide rails 14, 16 and 18, 20 are sufficiently spaced that the Stack can be passed between these leaves the stack is contactless in the stack receiving space usher. After the feeder has stopped the guides 14, 16, 18 and 20 employed, so that the Surround and touch the stack on all sides. Then the Feeder pulled out of the stack gripper be so that the stack with its bottom on the Pads 24 and 26 come to rest. Depending on the the speed of the robot can, however, be the stack gripper also from the top of the stack be lowered.

Nach Verschwenken des Roboterarms an die gewünschte Stelle auf der Palette wird der Stapelgreifer mit einem geringen Abstand zu der Auflagefläche positioniert, damit zwischen dem sich bewegenden unteren Trum der Auflagebänder 36, 38 und der Auflagefläche keine Berührung stattfindet. Anschließend werden die Teleskopzylinder 28 und 30 entlüftet und gleichzeitig werden die Hubzylinder 52, 54 synchron betätigt, so daß sich die Schlitten 51 und 53 nach oben bewegen. Durch diese Bewegung wird das untere Trum 37, 39 der Auflagebänder 36, 38 an der Unterseite der Stellzylinder 28, 30 aus dem Stapelaufnahmeraum herausgezogen, wobei sich gleichzeitig die Stellzylinder 28 und 30 verkürzen. Bei diesem Vorgang wird das obere Trum der Auflagebänder von der Unterseite des Stapels abgerollt, so daß der Stapel von den Auflagen 24 und 26 gleitet, jedoch nicht fällt.After swiveling the robot arm to the desired location on the pallet, the stack gripper with a small Distance to the support surface positioned so that between the moving lower run of the support bands 36, 38 and the contact surface does not come into contact. Subsequently the telescopic cylinders 28 and 30 are vented and at the same time the lifting cylinders 52, 54 become synchronous actuated so that the carriage 51 and 53 upwards move. This movement causes the lower run 37, 39 the support bands 36, 38 on the underside of the actuating cylinder 28, 30 pulled out of the stack receiving space, whereby simultaneously shorten the actuating cylinders 28 and 30. at this process the upper run of the support tapes from the Unrolled the bottom of the stack so that the stack of the Pads 24 and 26 slide, but do not fall.

Ungefähr in der Mitte des Hubes der Teleskopzylinder 28 und 30 wird der jeweilige Haltepunkt des oberen Trums der Auflagebänder um einen vorbestimmten Weg entgegen der Einzugsrichtung der Teleskopzylinder 28, 30 bewegt. Hierdurch bewegen sich die untersten Produkte des Stapels gegen die Schienen 14, 16, die in diesem Fall als Anschläge dienen, wodurch die korrekte Ausrichtung des Stapels sichergestellt ist.Approximately in the middle of the stroke of the telescopic cylinder 28 and 30 becomes the respective stop of the upper run of the support bands by a predetermined path against the feed direction the telescopic cylinder 28, 30 moves. hereby the bottom products of the stack move against the Rails 14, 16, which in this case serve as stops, ensuring the correct alignment of the stack is.

Nach Ende der Aufwärtsbewegung der Hubzylinder 52, 54 bzw. der Rückzugsbewegung der Teleskopzylinder 28, 30 ist jedes Auflageband 36, 38 aus dem Stapelaufnahmeraum 22 entfernt und der Stapel liegt auf seiner Unterlage ordnungsgemäß ausgerichtet auf. Hierauf wird der Stapelgreifer nach oben angehoben, während die Niederhalter gegenläufig nach unten bewegt werden und noch auf die Oberseite des Stapels drükken. Wenn die Niederhalter 56, 58 ihre untere Endstellung erreicht haben, betätigen diese einen Signalgeber und der Höhenpositionswert wird aus der Robotersteuerung ausgelesen. Unmittelbar danach hebt der Stapelgreifer vollständig von dem Stapel ab und wird in Richtung der Übergabevorrichtung bewegt, so daß der Zyklus von neuem beginnen kann.After the upward movement of the lifting cylinders 52, 54 or the retracting movement of the telescopic cylinders 28, 30 is each Support tape 36, 38 removed from the stack receiving space 22 and the stack is properly on its base aligned at. The stack gripper is then moved upwards raised while the hold-downs move in opposite directions downwards be moved and still press on the top of the stack. When the hold-down device 56, 58 reaches its lower end position have reached, they operate a signal generator and the Height position value is read out from the robot controller. Immediately afterwards, the stack gripper lifts completely the stack and is towards the transfer device moved so that the cycle can start again.

Sofern eine unterschiedliche Formatverstellung erforderlich ist, werden die Führungsschienen 14, 16, 18 und 20 entsprechend verstellt. Werden beispielsweise Produktstapel gefördert, die eine geringere Breite besitzen, so werden die Führungsschienen 14, 16 und 18, 20 aufeinander zu bewegt und in dieser Stellung arrettiert. Um den Maximalhub der Teleskopzylinder 28 und 30 bei unterschiedlichen Formaten entsprechend zu begrenzen, kann jeder Schlitten 51, 53 mittels eines Handhebels 64, 66 an einer zugehörigen Führungsstange 68, 70 verstellt werden, so daß das Auflageband 36, 38 gespannt ist.If a different format adjustment is required is, the guide rails 14, 16, 18 and 20 accordingly adjusted. If, for example, product stacks are conveyed, which have a smaller width, so the Guide rails 14, 16 and 18, 20 moved towards each other and locked in this position. The maximum stroke of the telescopic cylinders 28 and 30 with different formats accordingly limit, each carriage 51, 53 by means of a hand lever 64, 66 on an associated guide rod 68, 70 are adjusted so that the support band 36, 38 is excited.

Nach einer alternativen Ausführungsform ist ein Anschlag vorgesehen, der den Maximalhub der Hubzylinder 52, 54 bzw. der Schubkette begrenzt. Vorteilhafterweise ist dieser Anschlag über eine Seilumlenkung mit der Format- verstellung verbunden, wodurch auf konstruktive einfache Weise der Maximalhub der Auflage je nach eingestelltem Format begrenzt wird.According to an alternative embodiment, there is a stop provided that the maximum stroke of the lifting cylinders 52, 54 and the chain is limited. This is advantageous Stop via a rope deflection with the format adjustment connected, making the constructively simple Maximum stroke of the edition limited depending on the set format becomes.

Claims (13)

  1. Stack grasper, in particular for unbound printed products comprising
    a stack receiving space (22) which is open towards the bottom,
    a guide (14, 16, 18, 20) at all four sides of the stack receiving space, and
    a stack support (24, 26) on which the stack lies flat and substantially with its full length and/or width,
    characterised in that
    the stack support (24, 26) is arranged in the region of the lower end of the guide (14, 16, 18, 20) and
    the stack support (24, 26) is movable by a horizontal movement out of and into the stack receiving space (22).
  2. Apparatus in accordance with claim 1, characterised in that the stack support (24, 26) has at least one positioning cylinder, preferably a telescopic cylinder 28, 30, or at least one thrust chain.
  3. Apparatus in accordance with claim 1 or claim 2, characterised in that the support belt (36, 38) is guided over a displaceable deflection roller (32, 34) or over a guide for sliding movement, and in that, for the movement out of the stack support (24, 26), the lower run (37, 39) can be withdrawn from the stack receiving space (22) while the upper run is tensioned between the deflection roller (32, 34) and a holding point outside of the stack receiving space (22).
  4. Apparatus in accordance with claim 3, characterised in that the free end of the lower run (37, 39) is secured to a lifting cylinder (52, 54), preferably a lifting cylinder without a piston rod, or to a thrust chain which can be moved parallel to the guide (18, 20).
  5. Apparatus in accordance with claim 3 or claim 4, characterised in that the holding point of the upper run is displaceable on withdrawing the lower run (37, 39) by a predetermined path opposite to the direction of movement of the stack support (24, 26).
  6. Apparatus in accordance with at least one of claims 2 to 5, characterised in that the support belt (36, 38) is guided around a deflection roller (32, 34), or around a guide for sliding movement which is arranged at the free end of the positioning cylinder (28, 30) or of the thrust chain.
  7. Apparatus in accordance with at least one of the preceding claims, characterised in that at least one hold-down device (56, 58) is provided inside of the stack receiving space (22) and can be set against the upper side of the stack and is preferably vertically adjustable within the full stack receiving space (22).
  8. Apparatus in accordance with claim 7, characterised in that at least one signal transducer is provided which is arranged at the lower end point of the hold-down device (56, 58).
  9. Apparatus in accordance with any one of the preceding claims, characterised in that the guide (14, 16, 18, 20) is provided with aligned cut-outs (62) which enable the removal of a supply device from the stack receiving space (22).
  10. Apparatus in accordance with any one of the preceding claims, characterised in that a total of four guides are provided which are jointly adjustable via a format adjusting device and in that a displaceable abutment is coupled to the format adjusting device and restricts the horizontal movement of the stack support (24, 26) in accordance with the selected format.
  11. Apparatus in accordance with claim 10, characterised in that the abutment is connected to the format adjusting device via a cable deflection.
  12. Method of palletising using a stack grasper in accordance with at least one of claims 8 to 11, characterised in that the hold-down device (56, 58) is displaced downwardly while the stack grasper is lifted upwardly, so that a pressure is exerted onto the top side of the stack, preferably until the hold-down device (56, 58) has reached its lower end point.
  13. Method in accordance with claim 12, characterised in that the hold-down device (56, 58) triggers a signal transducer at its lower end point, which preferably generates a measured height value by means of a robot control.
EP97109230A 1996-07-03 1997-06-06 Gripper for flat stacked objects Expired - Lifetime EP0816272B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19626802A DE19626802A1 (en) 1996-07-03 1996-07-03 Stack gripper
DE19626802 1996-07-03

Publications (2)

Publication Number Publication Date
EP0816272A1 EP0816272A1 (en) 1998-01-07
EP0816272B1 true EP0816272B1 (en) 2002-03-20

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ID=7798822

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EP97109230A Expired - Lifetime EP0816272B1 (en) 1996-07-03 1997-06-06 Gripper for flat stacked objects

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US (1) US6129504A (en)
EP (1) EP0816272B1 (en)
JP (1) JPH1081421A (en)
AT (1) ATE214680T1 (en)
DE (2) DE19626802A1 (en)
DK (1) DK0816272T3 (en)

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DE102010050607A1 (en) 2010-11-05 2012-05-10 Grenzebach Maschinenbau Gmbh Device and method for the rapid compilation of commission goods for transport
JP2013122489A (en) 2011-11-09 2013-06-20 Canon Inc Cartridge and unit
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Also Published As

Publication number Publication date
DE59706651D1 (en) 2002-04-25
DK0816272T3 (en) 2002-05-27
EP0816272A1 (en) 1998-01-07
DE19626802A1 (en) 1998-01-08
US6129504A (en) 2000-10-10
ATE214680T1 (en) 2002-04-15
JPH1081421A (en) 1998-03-31

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