EP1044908B1 - Verfahren zum Positionieren von plattenförmigen Gegenständen in der Zuführstation einer Verarbeitungsmaschine und Vorrichtung zur Durchführung des Verfahrens - Google Patents

Verfahren zum Positionieren von plattenförmigen Gegenständen in der Zuführstation einer Verarbeitungsmaschine und Vorrichtung zur Durchführung des Verfahrens Download PDF

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Publication number
EP1044908B1
EP1044908B1 EP00105172A EP00105172A EP1044908B1 EP 1044908 B1 EP1044908 B1 EP 1044908B1 EP 00105172 A EP00105172 A EP 00105172A EP 00105172 A EP00105172 A EP 00105172A EP 1044908 B1 EP1044908 B1 EP 1044908B1
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EP
European Patent Office
Prior art keywords
shelf
sheet element
actuators
bar
positioning
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Revoked
Application number
EP00105172A
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English (en)
French (fr)
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EP1044908A1 (de
Inventor
Jean-Claude Rebeaud
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Bobst Mex SA
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Bobst SA
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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
    • 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
    • B65H5/10—Reciprocating or oscillating grippers, e.g. suction or gripper tables
    • 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
    • B65H5/085—Feeding articles separated from piles; Feeding articles to machines by grippers, e.g. suction grippers by combinations of endless conveyors and 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
    • B65H9/00—Registering, e.g. orientating, articles; Devices therefor
    • B65H9/10—Pusher and like movable registers; Pusher or gripper devices which move articles into registered position
    • 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
    • B65H2301/44—Moving, forwarding, guiding material
    • B65H2301/443—Moving, forwarding, guiding material by acting on surface of handled material
    • B65H2301/4433—Moving, forwarding, guiding material by acting on surface of handled material by means holding the material
    • B65H2301/44331—Moving, forwarding, guiding material by acting on surface of handled material by means holding the material at particular portion of handled material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2511/00—Dimensions; Position; Numbers; Identification; Occurrences
    • B65H2511/20—Location in space
    • B65H2511/23—Coordinates, e.g. three dimensional coordinates
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2553/00—Sensing or detecting means
    • B65H2553/40—Sensing or detecting means using optical, e.g. photographic, elements
    • B65H2553/41—Photoelectric detectors

Definitions

  • the present invention relates to a method and a device for positioning of plate elements in the insertion station of a machine for processing sheet material, and more particularly at a device for positioning a sheet, paper, cardboard or material similar, very precisely in the machine introduction station, shortly before the leading edge of this sheet is gripped by a transport comprising a series of clamps mounted on a crossbar integral with side chains thereafter taking this sheet in the different subsequent machine processing stations such as platinum printing, cutting or other.
  • the sheet is teased on the margin table against front and side stops by means of advancement devices such as rollers or strips of material lower elastic resting on the table, or a pair of rollers arranged above and below the table.
  • advancement devices such as rollers or strips of material lower elastic resting on the table, or a pair of rollers arranged above and below the table.
  • the front and side stops used are arranged exactly with reference to the stations following.
  • the sheet is then quickly pushed against the tabs by the advancement organs then gripped by the gripper bar.
  • the stops are then retracted and the gripper bar can pull the sheet into the station next processing and position it precisely in relation to the tools of the platinum of this station.
  • Patent CH 676695 discloses a positioning device in which the cleats are motorized so as to be able to control a variation of their position and in which a printing mark or the like distinctive sign of prior processing can be identified by means of optoelectronic reading in order to adjust the position of the cleats, sheet, directly depending on the brand or sign.
  • pressing a sheet against a cleat can cause the formation of an unsightly mark on the corresponding edge.
  • the bead of this brand can also hinder the introduction of the sheet in borderline circumstances.
  • the object of the present invention is to provide a method and a device for positioning plate elements, such as sheets of paper, cardboard or the like, at the feed station processing machine, which is faster to allow an increase cadence, while remaining very precise, especially in the case of sheets having received prior treatment.
  • the device should not leave no mark on the plate element.
  • the design of this device must however remain relatively simple to increase reliability, to simplify maintenance and reduce costs as much as possible production.
  • the subsequent phase of advance may be used to make adjustments to the movement of the tablet compared to its base stroke to very dynamically correct the any longitudinal, lateral or skew errors of the element in plate.
  • the plate element is raw, the corrections are made on the base of the identification of its edges, if the sheet has been previously treated, the corrections are advantageously made on the basis of a mark of identification of the distinctive sign (s) corresponding to said treatment.
  • the corrections made on the fly allow you not to have to stop unnecessarily the plate element, therefore significantly increasing the rate possible from the machine.
  • the positioning device control method consists of therefore, from the rear starting position of the tablet, order the actuators to advance the tablet forward until the front edge of the plate element has been detected by optoelectronic means, then at control the corresponding actuator to move the shelf until the side edge of the plate element has been detected by optoelectronic means.
  • the control method consists, from the shelf in rear starting position, order actuators for advance the tablet forward at a constant speed until the bar clamps of the machine arrives in the waiting position for receiving an item in plate, then order the actuators to make adjustments to the displacement of the tablet relative to its basic stroke in order to correct the any longitudinal, lateral or skew errors of the element in plate determined as a function of the readings of the optoelectronic means, and to finally stop the front edge of the plate element in position in the clamps of the drive bar.
  • the temporary pneumatic fastening means of the element in plate on the shelf may include a mesh of orifices provided on the upper face of the tablet in communication with an internal chamber connected by an electromagnetic opening / closing valve to a source of depression.
  • pneumatic means prove to be relatively slow and delicate to implement.
  • the fixing means temporary include a comb mounted movably pivoting above, to near and parallel to the notched front edge of the tablet, the fingers of the comb being oriented forward so that each of them form with each protuberance of a shelf separating a notch a gripper for gripping the front edge of the plate element, as well as means for control of the angular position of the comb.
  • the means for controlling the angular position of the comb comprise on the one hand one or more springs arranged between the shelf and the rear bar connecting the fingers of the comb so that, at rest, this spring goes up the rear bar and keeps this comb closed, that is to say with the fingers resting on their protuberance of the tablet, and on the other hand, integral with the station, one or more control members overlying vertical displacement, such as the end of a lever actuated in rotation or the output rod of a pneumatic or electromagnetic cylinder, and each connected by a telescopic pendulum rod to the rear bar of the comb so that you can press and lower the rear bar in the low position of the comb and thus keep the comb open during a displacement of the Tablet.
  • one or more control members overlying vertical displacement such as the end of a lever actuated in rotation or the output rod of a pneumatic or electromagnetic cylinder
  • the spring guarantees effective closing of the comb, therefore a firm hold of the element in plate during its supply and its position corrections.
  • the connecting rod When the connecting rod on the other hand is in the low position with its rod in abutment during removing the shelf back to its rear starting position, it opens the comb and keep it open despite the movement of this tablet thanks to the pendulum arrangement of this connecting rod.
  • the plate element is held along its edge before regularly and with almost constant pressure to avoid formation of any harmful mark.
  • holding this front edge well flat on the shelf protrusions allows this element edge to be inserted in plate without any risk of snagging in the open clamps of the bar machine drive.
  • the longitudinal translation is performed by a precision actuator which ensures the displacement and longitudinal position correction.
  • the tablet is mounted each side on a vertical lateral pivot respectively secured to a carriage moved along a longitudinal slide by a supported linear actuator by the base rail.
  • the tablet simply performs a purely complementary translational movement longitudinal forward.
  • the introduction of a slight gap between the displacements of each of the side actuators allows to put voluntarily the cross shelf in a rotation about a vertical axis to make up for an initial cross of the plate element.
  • the tablet is mounted in the middle on a central vertical pivot and on each side on a lateral vertical pivot, the central pivot being integral with a sliding carriage in a longitudinal slide capable of being moved transversely by a first linear actuator, each lateral pivot being integral with a carriage sliding in a cross slide capable of being moved longitudinally respectively by a second and third linear actuator, the first, second and third actuators being supported on the crossmember of based.
  • the tablet simply performs a purely longitudinal translation forward, the carriage of the central pivot only following the movement within its slide longitudinal. Furthermore, the introduction of a slight gap between the displacements of the second and third actuators allow to induce willfully a crosstalk in the tablet to make up for an initial error corresponding of the plate element.
  • the implementation of the first actuator induces a transverse movement to the tablet, the carriages lateral pivots only following this movement within their cross slide.
  • the first actuator is slaved in position relative to a setpoint which is established according to the transverse position error of the plate element as read by optoelectronic means.
  • the second and third actuators are slaved in position according to a setpoint of correction of longitudinal and / or skew errors as also read by optoelectronic means.
  • the tablet actuator it is slaved in position according to a fleeting instruction with reference to the cycle of the machine, usually identified by the angle of the motor output shaft main, this fleeting instruction being representative of the basic displacement from front to back for supplying the plate element.
  • the linear actuators are linear electric motors, the rotor of which is in the form of a movable bar in translation furnished with a series of permanent magnets passing in front of one or more loops of a stator supplied with electric current, this bar directly supporting either the pivot support or the slide transverse within which slides the pivot carriage.
  • the means optoelectronic element edge detection may not include than a pair of front photocells and a cell lateral photoelectric.
  • optoelectronic means side element detection plate can be a row of photocells or CCD strip, which avoids printing at the tablet a transverse movement specially to locate the edge lateral.
  • the optoelectronic means for detecting the marks or other distinctive signs of prior processing may be a CCD matrix or other camera capturing an image of the plate element during the passage of the tablet.
  • CCD matrix or other camera capturing an image of the plate element during the passage of the tablet.
  • a bar of pliers 10 having at its rear edge a plurality of bars 12 provided for grasp the front edge of a sheet 5.
  • This bar 10 is hung in each of its two lateral ends to a drive chain towards subsequent treatment stations then back in a loop towards the initial position for waiting to receive a new sheet.
  • a sheet 5 is brought in and exactly positioned in the clamps 12 by means of a shelf horizontal 14 performing on the one hand an alternative longitudinal displacement back and forth to find and bring this sheet and secondly making correction movements taking into account the position effective of this sheet on this tablet.
  • the shelf 14 is first mounted on a cross member of horizontal base 8 which can pivot along its horizontal axis, thus ensuring transfer of the plate element from said shelf 14 to the clamp 12 carried by the clamp bar 10.
  • the tablet, mounted on the cross member 8 is movable in longitudinal translation, in transverse translation and askew that is to say instantaneous rotation about a vertical axis.
  • this shelf 14 is articulated on three vertical pivots respectively a central 48 and two lateral: a 68 on the left says “side conductor "CC and a 58 on the right says” opposite side to the conductor "COC.
  • central articulation pivot 48 is integral with a sliding carriage inside a longitudinal slide 46, while the carriages of the lateral pivots 58 and 68 are both sliding inside cross slides 56 COC and 66 CC.
  • the longitudinal central slide 46 is supported by a movable bar 44 comprising permanent magnets and forming the stator mobile of a central linear electric motor 40 whose stator 42 rests by a base 41 in the center of the base cross member 8.
  • the slide transverse COC 56 and the transverse slide CC 66 are integral respectively a COC 54 bar and a CC 64 bar with magnets permanent forming a linear electric motor rotor COC 50 and CC 60 whose stators respectively 52 and 62 rest by their base 51 and 61 in each end of the base cross member 8.
  • the movable bars 44, 54, 64 may have a row permanent magnets on one side of the bar, the stator not including while a single winding opposite; or, preferably, a row permanent magnets on both sides, the stator then having two windings respectively opposite each of the rows.
  • Such permanent magnet actuators with good dynamic performance are commercially available, in particular are marketed by the company Swiss ETEL under the reference LMA11 / 50.
  • linear motors 40, 50, 60 are mainly intended for print on the tablet 14 displacements and corrections on the order of ten at twenty millimeters over a total stroke of about one hundred millimeters.
  • the two linear actuators COC 50, CC 60 advance in synchronism, the tablet 14 moves purely in longitudinal translation towards the gripper bar 10.
  • one of the linear motors 50, 60 has voluntarily a displacement of amplitude different from that of the other, this causes a cross bar 14 by pivoting around the pivot 48 can simultaneously move forward or backward.
  • the implementation of the central linear electric motor 40 induces a movement transverse to the shelf 14, the pivots 58 and 68 following this movement inside their respective slide 56, 66.
  • the sheet 5 is temporarily fixed to the shelf 14 by a series of front clamps composed on the one hand of protrusions 16 of edge front of cooperating tablet with fingers 22 of a comb 20.
  • the shelf edge protrusions 16 delimit notches 17 located in correspondence with the clamps 12 of the bar 10, these notches being significantly wider than the clamps 12 to allow any transverse displacements of the tablet 14 printed by the linear motor central 40.
  • the fingers 22 are connected by a rear bar 21 to form together a comb 20 mounted at each of its lateral ends in pivoting by arms 24 and 25 allowing the opening and then the closing of the shelf clamps.
  • two springs side COC (side opposite the conductor) 26 and CC (driver side) 27 are arranged between the shelf 14 and the rear bar 21 of comb 20 so that to maintain, normally at rest, the comb 20 therefore the pliers 16, 22, in the state closed.
  • This clamp is particularly closed when it carries with it a sheet 5 to bring it and position it in the clamps 12 of the bar 10.
  • a mechanism for voluntary opening of the comb 20 comprises, in each lateral end, a pendulum telescopic connecting rod COC 34 and CC 35 articulated at the rear comb bar 21 by a lower ball joint 33, and at the end of a lever 31 by an upper ball joint 32, the lever 31 being capable of being raised or lowered by a rotating disc 30.
  • the discs 30 have rotated clockwise to lower their respective levers 31, the telescopic rod rod coming into abutment with so as to press the rear bar 21 and thus tilt upwards the gripper fingers 22.
  • a possible pivoting movement of the connecting rods around from their upper end 32 makes it possible to voluntarily maintain the combs 20 open throughout the return journey.
  • the rear edge 18 of the shelf 14 is oblique downwards to facilitate the introduction of a new sheet on its upper face, therefore in the clamps 26/22.
  • the comb opening mechanism 20 could advantageously be constructed by replacing the pendulum telescopic rod COC 34, respectively CC 35, comprising a second rotation disc connected to a cam while being independent of disc 30 so as to generate a stroke allowing the use of a non-telescopic zipper.
  • each rotor bar has a graduated slide for reading by a cell respectively 43, 53, 63 for generating a feedback signal for controlling linear electric motors by position-controlled following a leaking position setpoint curve, this check being carried out so known within a microprocessor 100.
  • the positioning device includes a pair of side-by-side cells 72, 64 for detecting the front edge a sheet 5 and a lateral cell strip 76 making it possible to detect the lateral edge of this same leaf.
  • the results of reading these cells are also applied to microprocessor 100.
  • the device can further include a reading cell 70 for detecting the presence of a sheet to enter or detection of the passage of the tablet only after a predetermined time to avoid any possible collision with the bar pliers 10.
  • the operating mode of the positioning device according to Figures 1 and 2 will be better understood by studying the diagram in Figure 3 illustrating the stroke of the tablet 14 during a machine cycle.
  • the reference of a cycle is usually the angular position of the motor output shaft main, the abscissa of the diagram corresponding to a full 360 ° turn. This cycle begins and ends at the same 220 ° machine reference corresponding to the moment when the tablet is momentarily furthest back motionless ready to go.
  • the tablet 14 starts forward and picks up speed to reach the speed of advancement of the sheet that she grabs at the stolen at time S, the disks 30 of the levers 31 rapidly rotating in direction counterclockwise to release the comb and close the pliers 16/22.
  • the edge front of sheet 5 is detected by pair of cells 72, 4 and side edge is detected by the cell strip 76, allowing the microprocessor 100, knowing the base stroke of the tablet 14, to determine the error of positioning of the sheet 5 relative to its theoretical position.
  • the microprocessor can then establish the presence, or absence and magnitude possible positioning errors both longitudinal and transverse even skewed the sheet and establish correction instructions.
  • the subsequent phase Av lasting approximately 30 °, corresponds to a brought from the sheet by the tablet 14 at a constant speed calculated such so as to first pass and arrive the gripper bar 10 in position Wait.
  • the microprocessor 100 can then apply to linear electric motors 40, 50, 60, the instructions for correction so as to move the tablet accordingly.
  • This phase Z of correction has a duration of the order of 90 ° and the amplitude of the stroke of the tablet is then dependent on the extent of the corrections as shown by the minimum and maximum stroke.
  • the next phase Ar lasting approximately 20 °, corresponds to the stop from the front edge of the sheet 5 in the middle of the clips 12 which close, only then allowing the opening of the comb 20 by lowering the levers 31.
  • Phase R corresponds to the return of the tablet to the initial position at constant speed, this displacement being on the one hand imprinted by the basic cross member 8 and on the other hand by linear electric motors returning respectively in neutral position. A new leaf feeding cycle can then start again.
  • the system positioning of a plate element according to the invention is remarkable to the extent that he manages to grab a sheet on the fly and, while bringing it towards the clamps of the drive bar, to read its position to calculate possible errors, and, while continuing to advance, to compensate for these possible errors to finally position this sheet just in time to remarkably precise within the bar clamps.
  • the correction of positioning here did not need to stop the progression of the sheet this which significantly increases the speed of the machine to reach values up to 12,000 sheets / hour.
  • the use of electric motors linear significantly simplifies the design of the device therefore its costs of realization and maintenance.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Feeding Of Articles By Means Other Than Belts Or Rollers (AREA)
  • Registering Or Overturning Sheets (AREA)
  • Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Manufacture Of Motors, Generators (AREA)
  • Grinding Of Cylindrical And Plane Surfaces (AREA)
  • Turning (AREA)
  • Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
  • Manufacturing Of Printed Wiring (AREA)
  • Apparatuses And Processes For Manufacturing Resistors (AREA)
  • Supply, Installation And Extraction Of Printed Sheets Or Plates (AREA)
  • Inking, Control Or Cleaning Of Printing Machines (AREA)
  • Feeding Of Workpieces (AREA)

Claims (10)

  1. Verfahren zur Positionierung plattenförmiger Elemente (5) in der Zuführstation einer Bearbeitungsmaschine, die eine Fördervorrichtung umfasst, die sich aus einem oder mehreren Trägern (10) mit Zangen (12) zur Mitnahme des plattenförmigen Elements (5) in weitere Stationen zusammensetzt, dadurch gekennzeichnet, dass es von einer Platte (14) in hinterer Ausgangsposition aus Befestigungsvorrichtungen (16, 22) für ein plattenförmiges Element (5) auf der Platte (14) eingreifen lässt, anschliessend Aktuatoren (M8, 50, 60, 70) steuert, um die Platte (14) nach vorne und, wenn erforderlich, zur Seite und/oder quer zu bewegen, und zwar in Abhängigkeit der Erfassung der Positionierungskoordinaten des plattenförmigen Elements (5) durch optoelektronische Vorrichtungen (72, 74, 76), welche Erfassungen beim Vorschub der Platte (14) so durchgeführt werden, dass der vordere Rand des plattenförmigen Elements (5) den Zangen (12) der Transportvorrichtung zugeführt und schliesslich in diesen in einer vorbestimmten Position arretiert wird, die Befestigungsvorrichtungen (16, 22) gelöst werden und dann die Platte (14) wieder in ihre hintere Ausgangsposition zurückgeführt wird.
  2. Verfahren zur Positionierung gemäss Patentanspruch 1, dadurch gekennzeichnet, dass es darin besteht, von der Platte (14) in hinterer Ausgangsposition aus die Aktuatoren (M8) so zu steuern, dass sie die Platte (14) mit konstanter Geschwindigkeit vorwärts bewegen, bis der Mitnahmeträger (10) der Zangen (12) in Wartestellung zur Aufnahme eines plattenförmigen Elements (5) ankommt, und dann die Aktuatoren (40, 50, 60) so zu steuem, dass sie Anpassungen der Bewegung der Platte (14) bezogen auf ihren Basishub vornehmen, um eventuelle Längs-, Seiten- oder Querabweichungen des plattenförmigen Elements (5) zu korrigieren, die abhängig von den Erfassungen der Positionierungskoordinaten des plattenförmigen Elements (5) durch optoelektronische Vorrichtungen (72, 74, 76) bestimmt wurden, und um schliesslich den vorderen Rand des plattenförmigen Elements (5) in den Zangen (12) des Mitnahmeträgers (10) in seiner Position zu arretieren.
  3. Positionierungsvorrichtung für plattenförmige Elemente (5) in der Zuführstation einer Bearbeitungsmaschine zur Anwendung des Verfahrens gemäss Patentanspruch 1, die eine Fördervorrichtung umfasst, die sich aus einem oder mehreren Trägern (10) von Zangen (12) zur Mitnahme des plattenförmigen Elements (5) zusammensetzt, dadurch gekennzeichnet, dass sie umfasst:
    eine horizontale Platte (14), die mit Vorrichtungen zur vorübergehenden Befestigung (16, 22) des plattenförmigen Elements (5) versehen ist, die eine ausgezackte (17) Vorderkante komplementär zu den Zangen (12) des Mitnahmeträgers (10) umfassen, die von Aktuatoren (M8, 40, 50, 60) einerseits in abwechselnder Längsbewegung von einer hinteren Ausgangsposition in eine vordere Position in Höhe eines Zangenträgers in Wartestellung zur Aufnahme eines plattenförmigen Elements und andererseits in einer komplementären Längs- und/oder Quer- und/oder Drehbewegung um eine vertikale Achse angetrieben wird,
    optoelektronische Vorrichtungen (72, 74, 76) zum Erkennen des vorderen und/oder seitlichen Rands und/oder eines Kennzeichens einer vorangegangenen Bearbeitung des plattenförmigen Elements (5), die geringfügig vor der Ausgangsposition der Platte (14) angeordnet sind,
    elektronische Steuerungsmittel (100) zur Steuerung der Aktuatoren (M8, 40, 50, 60) der Platte (14) in Abhängigkeit vom Arbeitstakt der Maschine und von den Ergebnissen der Ablesungen der Positionierungskoordinaten des plattenförmigen Elements (5) durch die optoelektronischen Vorrichtungen (72, 74, 76).
  4. Positionierungsvorrichtung gemäss Patentanspruch 3, dadurch gekennzeichnet, dass die Vorrichtungen zur vorübergehenden Befestigung (16, 22) einen Kamm (20) umfassen, der drehbeweglich (24, 25) über, nahe der und parallel zur ausgezackten Vorderkante (17) der Platte (14) montiert ist, wobei die Zacken (22) des Kamms (20) nach vorne gerichtet sind, so dass jeder von ihnen mit jeder Auskragung (16) der Platte (14), die eine Aussparung (17) trennt, eine Greifzange für den vorderen Rand des plattenförmigen Elements (5) bildet, sowie Vorrichtungen (26; 30-33) zur Steuerung der Winkelposition des Kamms (20).
  5. Positionierungsvorrichtung gemäss Patentanspruch 4, dadurch gekennzeichnet, dass die Vorrichtungen zur Steuerung der Winkelposition des Kamms (20) einerseits eine oder mehrere Feder/n (26) umfasst, die zwischen der Platte (14) und dem hinteren Verbindungssteg (21) der Zacken (22) des Kamms (20) angeordnet ist/sind, und andererseits eine oder mehrere unterhalb angeordnete, fest mit der Station verbundene, vertikal bewegliche Steuerungsvorrichtungen (30, 31, 32), die jeweils über eine Pendel-Teleskopstange (34) mit dem hinteren Steg (21) des Kamms verbunden sind.
  6. Positionierungsvorrichtung gemäss Patentanspruch 5, dadurch gekennzeichnet, dass die Platte (14) auf Aktuatoren (50, 60, 70) in komplementärer Längs-, Quer- und Drehbewegung montiert ist, wobei diese Aktuatoren (50, 60, 70) selbst auf einen Basisquerträger (8) montiert sind, der in abwechselnder Längsbewegung aus einer hinteren Ausgangsposition in eine vordere Position in Höhe eines Trägers (10) von Zangen (12) in Wartestellung bewegt wird.
  7. Positionierungsvorrichtung gemäss Patentanspruch 6, dadurch gekennzeichnet, dass die Platte (14) auf jeder Seite auf einen vertikalen Seitenzapfen (58, 68) montiert ist, der jeweils fest verbunden ist mit einem Schlitten, der entlang einer Längsschiene von einem Linearaktuator (50, 60) bewegt wird, der vom Basisquerträger getragen wird.
  8. Positionierungsvorrichtung gemäss Patentanspruch 6, dadurch gekennzeichnet, dass die Platte (14) in ihrer Mitte auf einen vertikalen Mittelzapfen (48) und auf jeder Seite auf einen vertikalen Seitenzapfen (58, 68) montiert ist, wobei der vertikale Mittelzapfen (48) fest mit einem Schlitten verbunden ist, der in einer längs angeordneten Gleitschiene (46) gleitet, die durch einen ersten Linearaktuator (40) quer bewegt werden kann, wobei jeder Seitenzapfen (58, 68) fest mit einem Schlitten verbunden ist, der in einer quer angeordneten Gleitschiene (56, 66) gleitet, die jeweils von einem zweiten (50) und dritten (60) Linearaktuator in Längsrichtung bewegt werden kann, wobei der erste, zweite und dritte Aktuator von einem Basisquerträger (8) getragen werden.
  9. Positionierungsvorrichtung gemäss Patentanspruch 7, dadurch gekennzeichnet, dass die Linearaktuatoren Linear-Elektromotoren (40, 50, 60) sind, deren Rotor in Form einer parallel beweglichen Stange (44, 54, 64) ausgeführt ist, die mit einer Reihe von Dauermagneten ausgestattet ist, die vor einer oder mehreren Schleifen eines mit Strom versorgten Stators (42, 52, 62) vorbeiführen.
  10. Positionierungsvorrichtung gemäss Patentanspruch 3, dadurch gekennzeichnet, dass die optoelektronischen Vorrichtungen zum Erkennen der Ränder des Elements einerseits ein Paar stirnseitig angeordnete Fotozellen (72, 74) und andererseits eine seitliche Fotozelle oder eine Reihe von Fotozellen (76) oder eine CCD-Anordnung umfassen.
EP00105172A 1999-04-09 2000-03-11 Verfahren zum Positionieren von plattenförmigen Gegenständen in der Zuführstation einer Verarbeitungsmaschine und Vorrichtung zur Durchführung des Verfahrens Revoked EP1044908B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH00671/99A CH693378A5 (fr) 1999-04-09 1999-04-09 Procédé de positionnement d'éléments en plaque dans la station d'introduction d'une machine de traitement et dispositif pour la mise en oeuvre du procédé.
CH67199 1999-04-09

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EP1044908A1 EP1044908A1 (de) 2000-10-18
EP1044908B1 true EP1044908B1 (de) 2003-05-28

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EP (1) EP1044908B1 (de)
JP (1) JP2000327179A (de)
KR (1) KR100337044B1 (de)
CN (1) CN1114553C (de)
AT (1) ATE241556T1 (de)
AU (1) AU770094B2 (de)
BR (1) BR0001565B1 (de)
CA (1) CA2304419C (de)
CH (1) CH693378A5 (de)
DE (1) DE60002942T2 (de)
DK (1) DK1044908T3 (de)
ES (1) ES2200742T3 (de)
TW (1) TW562744B (de)

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CN103770477B (zh) * 2014-01-17 2015-09-30 北京京东方显示技术有限公司 打码机和打码方法
DE102015201627A1 (de) * 2014-02-14 2015-08-20 Heidelberger Druckmaschinen Ag Vorrichtung zur Positionierung einer Bogenvorderkante
CN105383971A (zh) * 2015-11-27 2016-03-09 天津长荣印刷设备股份有限公司 一种纸张定位方法及系统
CN109311611B (zh) * 2016-05-24 2021-06-25 鲍勃斯脱梅克斯股份有限公司 用于放置板状元件的套准器、加工机器和方法
CN106225790B (zh) * 2016-07-13 2018-11-02 百度在线网络技术（北京）有限公司 一种无人车定位精度的确定方法及装置
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KR20000071624A (ko) 2000-11-25
ATE241556T1 (de) 2003-06-15
AU2265600A (en) 2000-10-12
DK1044908T3 (da) 2003-09-22
JP2000327179A (ja) 2000-11-28
DE60002942T2 (de) 2004-03-11
US6378862B1 (en) 2002-04-30
TW562744B (en) 2003-11-21
CN1270134A (zh) 2000-10-18
CA2304419C (en) 2004-05-25
AU770094B2 (en) 2004-02-12
ES2200742T3 (es) 2004-03-16
CH693378A5 (fr) 2003-07-15
BR0001565A (pt) 2000-10-31
KR100337044B1 (ko) 2002-05-16
CN1114553C (zh) 2003-07-16
DE60002942D1 (de) 2003-07-03
EP1044908A1 (de) 2000-10-18
BR0001565B1 (pt) 2009-05-05
CA2304419A1 (en) 2000-10-09

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