EP1029817A2 - Dispositif de préhension - Google Patents

Dispositif de préhension Download PDF

Info

Publication number
EP1029817A2
EP1029817A2 EP00100879A EP00100879A EP1029817A2 EP 1029817 A2 EP1029817 A2 EP 1029817A2 EP 00100879 A EP00100879 A EP 00100879A EP 00100879 A EP00100879 A EP 00100879A EP 1029817 A2 EP1029817 A2 EP 1029817A2
Authority
EP
European Patent Office
Prior art keywords
axis
spring
gripper device
clamping member
clamping
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.)
Granted
Application number
EP00100879A
Other languages
German (de)
English (en)
Other versions
EP1029817A3 (fr
EP1029817B1 (fr
Inventor
Robert Paul Cassoni
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.)
Goss International Americas LLC
Original Assignee
Heidelberger Druckmaschinen AG
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
Application filed by Heidelberger Druckmaschinen AG filed Critical Heidelberger Druckmaschinen AG
Publication of EP1029817A2 publication Critical patent/EP1029817A2/fr
Publication of EP1029817A3 publication Critical patent/EP1029817A3/fr
Application granted granted Critical
Publication of EP1029817B1 publication Critical patent/EP1029817B1/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
    • B65H29/00—Delivering or advancing articles from machines; Advancing articles to or into piles
    • B65H29/02—Delivering or advancing articles from machines; Advancing articles to or into piles by mechanical grippers engaging the leading edge only of the articles
    • B65H29/04—Delivering or advancing articles from machines; Advancing articles to or into piles by mechanical grippers engaging the leading edge only of the articles the grippers being carried by endless chains or bands
    • B65H29/045—Details of grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H5/00—Feeding articles separated from piles; Feeding articles to machines
    • B65H5/08—Feeding articles separated from piles; Feeding articles to machines by grippers, e.g. suction grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H5/00—Feeding articles separated from piles; Feeding articles to machines
    • B65H5/08—Feeding articles separated from piles; Feeding articles to machines by grippers, e.g. suction grippers
    • B65H5/14—Details of grippers; Actuating-mechanisms therefor

Definitions

  • the invention relates to a gripper device for gripping a flat product, in particular a printed product, with a first clamping member, which is on a first Axis is arranged with a second clamping member, and with an actuator for rotating the first clamping member relative to the second clamping member uni the first Axis from an open position to a closed position in which the Gripper device can grip a printed product, as well as a method for gripping of printed products.
  • Gripper systems are used in particular by newspaper publishers to deliver newspapers, Supplements or a variety of sheets or signatures, hereinafter referred to as books to be carried from one place to another.
  • Such a gripper system is z. B. from EP 0 546 512, in which a gripper device for gripping a Print product is described.
  • This gripper device has first and second Clamping jaw, the second clamping jaw being pivotable relative to the first clamping jaw is.
  • a coil or coil spring is compressed when the second jaw is in its open position.
  • To the second Holding the jaw in the closed position is a locking device provided that must be able to derive from the total clamping force withstand the resulting torque. With this construction the clamping force is however relatively weak. It is also difficult to grippers for specific applications construct and equip the right and left gripper side with the same spring forces.
  • the object of the present invention is therefore an improved gripper device and a method for gripping, in particular for gripping a plurality of sheets or to create signatures, newspapers, magazines or similar.
  • the Gripper device for gripping a flat product, a first clamping member that a first axis is attached.
  • a second clamping member and an actuator are so for pivoting the first clamping member relative to the second clamping member arranged that the first clamping member about a first axis from an open to a closed position is pivotable.
  • the gripper device in the take a printed product in the closed position.
  • the actuator has one Driver lever, which is attached to a second axis. It is Actuator by at least one guided coil spring with the first Clamping member connected.
  • the Gripper device for gripping a flat product a variety of first Clamping elements which are arranged on a first axis.
  • a second clamp and a plurality of first actuators for rotating each of the first Clamping members relative to the second clamping members are independent of one another the first axis is rotatable from an open to a closed position. In the closed position, the gripper device can grip a printed product.
  • the Gripper device has a driver lever on a second, to the first Axis different axis is attached.
  • One of the multitude of actuators is by at least one guided coil spring with an associated first clamping member connected.
  • Another embodiment of the present invention relates to a method for Gripping a flat product with a gripper device that has a first clamping member comprises, which is provided on a first axis.
  • a second clamping member and one Actuator for pivoting the first clamping member relative to the second Clamping member are arranged so that the first clamping member about the first axis of is pivotable from an open position to a closed position.
  • the gripper device can grip a printed product.
  • the actuator has a driver lever which is rotatably mounted on a second axis.
  • the Actuator is guided by at least one spiral spring with the first Clamping member connected.
  • the first clamping member becomes relative to the second clamping member by the actuator about the first axis from an open to a closed Position swiveled.
  • the actuator is with the around the second axis rotatable driver lever pivoted. Because the driver lever is guided by a Spiral spring is connected to the first clamping member, the first clamping member pivoted. As soon as the first clamping member has reached a position in which it is not is further rotatable, the pressure of the coil spring increases during the further Pivoting movement of the driver lever constantly.
  • the gripper device closes at this moment and the center of the axis on which the leadership of the Spiral spring attached to the driver lever is located under the connecting line between the center of the second axis and the center of the axis at which the leadership shaft is attached to the first clamping member moves. So that the gripper is in its closed position fixed.
  • the gripper shown in Fig. 1 comprises a first clamping member 14 which is on a first Axis 12 is attached.
  • a second clamping member 10 is rotatable with the first axis 12 connected.
  • An actuator 16 includes a driver lever 18 which on a second axis 20 is rotatably mounted, the axis 20 as the so-called Axis of rotation of the actuator 16 forms.
  • the driver lever 18 is also a Spiral spring 26 connected to a spring block 24 which on the first clamping member 14th is appropriate.
  • the driver lever 18 also has a driver roller 22, in contact with a control curve along a gripper conveyor, not shown can be brought.
  • the driver lever 18 is pivotable about the second axis 20, so that the gripper device can be opened and closed, as in the is described in detail below. If desired, in addition to the first Actuator 16 an identical second actuator 16 'can be provided.
  • the first clamping member 14 is rotatable on a first axis 12 attached and can be rotated relative to the second clamping member 10 about the axis 12 become.
  • a second embodiment of the invention instead of the first Clamping member 14 provided a plurality of clamping members 14a, 14b, as in the Embodiment of Fig. 2 is shown.
  • the two clamping members 14a and 14b are open a first axis 12 rotatably mounted, each of the clamping members 14a, 14b relative to a second clamping member 10 independently of the other around the first Axis 12 can rotate. This rotary movement causes the opening or closing of the Gripper device on the book 30.
  • Each of the two clamping members 14a, 14b is one associated actuator 16a, 16b and each of the actuators 16a, 16b is rotatably mounted on an associated second axis 20a, 20b.
  • each of the actuators 16a, 16b is by associated coil springs 26a and 26b connected to its associated clamping member 14a, 14b.
  • Example of Fig. 2 is a gripper device with two individual first Clamping jaws 14a, 14b shown, with which it is now possible, possibly existing Compensate for variations in thickness of the book 30, the z. B. by an uneven Supplement distribution can arise.
  • Fig. 3 shows the components of a split gripper device according to the present Invention in detail.
  • the gripper device can have two comprise first clamping members 14a and 14b. Because the components of each of these Clamping elements 14a and 14b and the respectively associated actuating element 16a, 16b are the same, the following description refers to only one of the two Clamping members and one of the associated actuators.
  • the two Clamping elements 14a and 14b of the divided first clamping element 14 are on the first Axis 12 attached and separated by a pivot block 28, which for connection the gripper device is provided with a gripper path.
  • Each of the Clamping elements 14a, 14b have a plurality of gripper buffers 32, which grip more securely a book 30 guaranteed.
  • each of the clamping members 14a, 14b comprises one Spring block 24 with a hole 25 formed therein through which a shaft 27 extends extends through.
  • the shaft 27 has two openings, which are preferably are arranged symmetrically to the center of the shaft 27 and through which one Spring mandrel 34 is guided.
  • the spring mandrel 34 also extends through the center of the Spiral spring 26 and thus serves as a guide for the spiral spring 26.
  • Each of the Actuators 16a, 16b includes a driver lever 18 with one formed therein first hole 19 in which a spring base shaft 36 is received, and with a second Hole 21 in which the second axis 20, the so-called driving axis, is received is.
  • Each spring mandrel 34 extends through the center of the coil spring 26 and continues through a corresponding hole formed in the spring base shaft 36. On in this way each actuator 16a, 16b is associated with the respective one Clamping member 14a, 14b connected.
  • the spiral spring 26 is supported by the spring mandrel 34 guided. It is also possible to extend through the interior of the spring Spring mandrel to be replaced by a sleeve so that the coil spring 26 in one tubular cavity is guided.
  • Fig. 4 shows a side view of the invention Gripper device in an open state.
  • the driver lever 18 is in its rear position and the first clamping member 14 in the open state.
  • the Coil spring 26 located between the spring base shaft 36 and the rotatable shaft 27 of the spring block 24 extends, may be biased, but is preferably in one uncompressed state, while the spring mandrel 34 essentially between the spring base shaft 36 and the rotatable shaft 27.
  • One by one Direction arrow A indicated movement of the entrainment roller 22 causes the Driver lever 18 to rotate about the second axis 20.
  • This rotary movement of the Driver lever 18 causes movement of center 37 of spring base shaft 36 along a circular path B.
  • the spring 26 increasingly compressed, while the spring mandrel 34 in the arrow C indicated direction is pushed.
  • the spiral spring 26 increases with this circular movement is compressed and an increasing force corresponding to the circular movement opposed.
  • the circular movement can continue until a book 30 is gripped between the first clamping member 14 and the second clamping member 10, such as 5, wherein due to the rotational movement of the first clamping member 14 about first axis 12 relative to the second clamping member 10 the compression of the Coil spring 26 increases.
  • the gripper device then has its closed position reached when the center 37 of the spring base shaft 36 has reached a position below a straight line E between the center of the second axis 20 and the center of the rotatable shaft 27 of the spring block 24 is located. The gripper remains in this position closed without additional locking device.
  • the driving roller 22 is in the by the Arrow D indicated direction moves, which is a circular movement of the driving lever 18th triggers about the second axis 20.
  • This causes a circular movement of the Center 37 of the spring base shaft 36 in the direction of the open position, as already done was described in connection with FIG. 4.
  • the Driver lever 18 continuously decreases the compression of the spiral spring 26 again and the center 37 of the spring base shaft 36 crosses the straight line indicated by E. between the center of the second axis 20 and the center of the spring base shaft 36 the grip on the book 30 is loosened.
  • the Driver lever 18 continues to decrease the compression of the coil spring 26 while the spring mandrel 34 moves in the direction indicated by the arrow F.
  • the gripper device has now reached its fully open position and all Components have reached their starting position shown in FIG. 4, in which the Gripper device is again ready to take a printed product.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Clamps And Clips (AREA)
  • Feeding Of Articles By Means Other Than Belts Or Rollers (AREA)
  • Supply, Installation And Extraction Of Printed Sheets Or Plates (AREA)
EP00100879A 1999-02-17 2000-01-18 Dispositif de préhension Expired - Lifetime EP1029817B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US09/251,861 US6227588B1 (en) 1999-02-17 1999-02-17 Gripper assembly
US251861 1999-02-17

Publications (3)

Publication Number Publication Date
EP1029817A2 true EP1029817A2 (fr) 2000-08-23
EP1029817A3 EP1029817A3 (fr) 2001-01-10
EP1029817B1 EP1029817B1 (fr) 2004-04-14

Family

ID=22953709

Family Applications (1)

Application Number Title Priority Date Filing Date
EP00100879A Expired - Lifetime EP1029817B1 (fr) 1999-02-17 2000-01-18 Dispositif de préhension

Country Status (6)

Country Link
US (1) US6227588B1 (fr)
EP (1) EP1029817B1 (fr)
JP (1) JP2000238240A (fr)
CN (1) CN1263858A (fr)
CZ (1) CZ9904606A3 (fr)
DE (2) DE10001580B4 (fr)

Families Citing this family (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6736581B1 (en) * 1999-07-13 2004-05-18 Heidelberger Druckmaschinen Ag Book clamp
US20020093212A1 (en) * 1999-11-29 2002-07-18 Demag Cranes & Components Gmbh Holding mechanism, in particular for a gripping apparatus
US6357741B1 (en) * 2000-01-20 2002-03-19 Heidelberger Druckmaschinen Ag Velocity adjustable grippers on sliding carriage
DE50003099D1 (de) * 2000-04-19 2003-09-04 Grapha Holding Ag Vorrichtung zur Entnahme von auf einer Fördervorrichtung in regelmässigen Abständen transportierten Druckprodukten
US6705608B2 (en) * 2002-07-01 2004-03-16 Heidelberger Druckmaschinen Ag Sheet material conveying apparatus with adjustable top grippers for pockets
US7530564B2 (en) * 2006-07-10 2009-05-12 Goss International Americas, Inc. Opposing link gripper
US7694949B2 (en) * 2006-09-18 2010-04-13 Goss International Americas, Inc Custodial lapped stream mechanism
GB0905148D0 (en) * 2009-03-25 2009-05-06 Linde Ag Holder for a cylindrical article
US8523164B2 (en) * 2009-12-16 2013-09-03 Goss International Americas, Inc. Inserter and a single-copy gripper with deep reach
DE102012104157A1 (de) * 2012-05-11 2013-11-14 B. Braun Avitum Ag Filterhalter; medizinisches Gerät zur extrakorporalen Blutbehandlung mit Filterhalter
KR101856252B1 (ko) * 2012-11-14 2018-05-09 현대자동차주식회사 차량조립로봇의 그리퍼
US10399782B2 (en) * 2015-11-04 2019-09-03 Hangzhou Youngsun Intelligent Equipment Co., Ltd. Bottle conveyor, bottle gripper mechanism, bottle gripper assembly for filling machine
WO2017178437A1 (fr) * 2016-04-12 2017-10-19 Bobst Mex Sa Organe de prehension, barre de pinces et machine de traitement d'elements en forme de feuilles
DE102017205868A1 (de) * 2016-05-09 2017-11-09 Heidelberger Druckmaschinen Ag Transportsystem für bogenförmige Elemente
CN106365086B (zh) * 2016-11-03 2018-07-06 南京保立隆包装机械有限公司 塑料瓶旋盖夹指及其工作方法
JP6823505B2 (ja) * 2017-03-09 2021-02-03 本田技研工業株式会社 関節構造体、ハンド装置、ロボットアーム及びロボット
TWI627124B (zh) * 2017-04-27 2018-06-21 巴柏斯特麥克斯合資公司 握持裝置，夾桿及用於處理紙張形式元件的機器
CN107892193B (zh) * 2017-12-29 2024-04-05 深圳市精密达机械有限公司 一种应用于辊式自动配页机的叼页装置及应用其的配页机
IT201900008817A1 (it) * 2019-06-13 2020-12-13 Gd Spa Sistema di trasporto per una cartuccia, in particolare per sigaretta elettronica, almeno parzialmente completa.
CN110436336A (zh) * 2019-08-16 2019-11-12 杜书影 一种装配式建筑大型预制件吊装搬运机械
CN111452125B (zh) * 2020-04-17 2021-11-30 苏州市东挺河智能科技发展有限公司 适用于板体结构的单向拉动装置及其裁切设备

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2997157A (en) * 1958-02-10 1961-08-22 Miller Printing Machinery Co Gripper mechanism
EP0386442A2 (fr) * 1989-03-07 1990-09-12 Grapha-Holding Ag Transporteur cadencé
WO1991007342A1 (fr) * 1989-11-08 1991-05-30 Grapha-Holding Ag Pince-etau pour transporteurs a chaine
DE19642117A1 (de) * 1996-10-12 1998-04-16 Koenig & Bauer Albert Ag Klemmzange für Endlosförderer
WO1999012836A1 (fr) * 1997-09-10 1999-03-18 Bell & Howell Gmbh Dispositif de manipulation de pieces de manutention en forme de feuille

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3265429A (en) * 1964-05-13 1966-08-09 William C Shatt Combined pick-up device and cane
US3614151A (en) * 1969-08-21 1971-10-19 Gen Machinery Co Gripping elements for carbon anode stacker
US5374093A (en) 1991-12-10 1994-12-20 Am International Inc. Gripper assembly
EP0600183B1 (fr) * 1992-12-02 1997-05-21 Ferag AG Pince pour transporteur pour transporter des produits imprimés à une ou plusieurs feuilles
US5871242A (en) * 1995-11-03 1999-02-16 Whitney; Denzil Carton, box and bulk material lifting device

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2997157A (en) * 1958-02-10 1961-08-22 Miller Printing Machinery Co Gripper mechanism
EP0386442A2 (fr) * 1989-03-07 1990-09-12 Grapha-Holding Ag Transporteur cadencé
WO1991007342A1 (fr) * 1989-11-08 1991-05-30 Grapha-Holding Ag Pince-etau pour transporteurs a chaine
DE19642117A1 (de) * 1996-10-12 1998-04-16 Koenig & Bauer Albert Ag Klemmzange für Endlosförderer
WO1999012836A1 (fr) * 1997-09-10 1999-03-18 Bell & Howell Gmbh Dispositif de manipulation de pieces de manutention en forme de feuille

Also Published As

Publication number Publication date
JP2000238240A (ja) 2000-09-05
DE10001580A1 (de) 2000-08-24
DE10001580B4 (de) 2009-04-09
EP1029817A3 (fr) 2001-01-10
CN1263858A (zh) 2000-08-23
CZ9904606A3 (cs) 2001-08-15
DE50006032D1 (de) 2004-05-19
EP1029817B1 (fr) 2004-04-14
US6227588B1 (en) 2001-05-08

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