EP1055620A1 - Device for picking up and/or transporting flexible and flat products - Google Patents

Device for picking up and/or transporting flexible and flat products Download PDF

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Publication number
EP1055620A1
EP1055620A1 EP00110601A EP00110601A EP1055620A1 EP 1055620 A1 EP1055620 A1 EP 1055620A1 EP 00110601 A EP00110601 A EP 00110601A EP 00110601 A EP00110601 A EP 00110601A EP 1055620 A1 EP1055620 A1 EP 1055620A1
Authority
EP
European Patent Office
Prior art keywords
gripper
suction
grippers
receiving
transport wheel
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
EP00110601A
Other languages
German (de)
French (fr)
Other versions
EP1055620B1 (en
Inventor
Alex Keller
Roberto Fenile
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.)
Ferag AG
Original Assignee
Ferag 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 Ferag AG filed Critical Ferag AG
Priority to DK00110601T priority Critical patent/DK1055620T3/en
Publication of EP1055620A1 publication Critical patent/EP1055620A1/en
Application granted granted Critical
Publication of EP1055620B1 publication Critical patent/EP1055620B1/en
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
    • B65H29/66—Advancing articles in overlapping streams
    • B65H29/6609—Advancing articles in overlapping streams forming an overlapping stream
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H3/00—Separating articles from piles
    • B65H3/42—Separating articles from piles by two or more separators mounted for movement with, or relative to, rotary or oscillating bodies
    • 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
    • B65H2301/00—Handling processes for sheets or webs
    • B65H2301/40—Type of handling process
    • B65H2301/44—Moving, forwarding, guiding material
    • B65H2301/447—Moving, forwarding, guiding material transferring material between transport devices
    • B65H2301/4472—Suction grippers, e.g. moved in paths enclosing an area
    • 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
    • B65H2301/447—Moving, forwarding, guiding material transferring material between transport devices
    • B65H2301/4473—Belts, endless moving elements on which the material is in surface contact
    • B65H2301/44732—Belts, endless moving elements on which the material is in surface contact transporting articles in overlapping stream
    • 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
    • B65H2301/447—Moving, forwarding, guiding material transferring material between transport devices
    • B65H2301/4474—Pair of cooperating moving elements as rollers, belts forming nip into which material is transported

Definitions

  • the invention relates to a device for removal and / or further transportation of flexible, flat products, especially printed products, with a plurality that can be moved along a gripper conveyor line, in the direction of transport successive grippers and one A plurality of suction elements that can be moved along a suction element conveying path for the reception in a reception and transfer area one product at a time and to hand over the recorded product Product to a gripper.
  • Such devices are suitable for stacking or products delivered in scale form individually using the absorbing devices mentioned and the absorbed products to hand over to grippers, who then grasp the gripped products Carry out further processing.
  • Each of the suction organs Always pass the gripper exactly one product, so that it is the one named Device allows to pick up the products individually and them to be fed individually for further processing.
  • An object of the invention is that described above Develop devices in such a way that with economically justifiable Effort on the one hand increases the security of an error-free Acceptance and delivery of the products can be guaranteed and on the other hand an increase in the speed of recording and Transfer process is possible.
  • this object is achieved in that the suction member conveyor line in the receiving and transfer area along or parallel to the gripper conveyor line.
  • the length of the along or parallel to the gripper conveyor line running section of the suction member conveyor line so is dimensioned that at least two successive grippers in this Find a section.
  • the gripper conveyor line and the suction element conveyor line can in Pick-up and transfer area, for example on concentric circular paths run. This enables an easy funding opportunity for Suction elements and grippers, since in both cases a drive by means of or several transport wheels is possible.
  • Grippers and a suction element are assigned to each other.
  • the gripper corresponds to the distance between two successive suction elements. So a gripper and a suction element with optimized Distance from each other the receiving and transfer area on their go through corresponding trajectory curves, which in terms of the overall arrangement to be operated minimized mechanical effort and the correctness and speed of the recording and transfer process optimized.
  • the suction member conveyor section and the gripper conveyor section preferably run in the receiving and transfer area approximately in the middle, in particular centered over the products to be picked up. This ensures that laterally next to the products to be picked up and picked up no mechanical devices have to be provided.
  • suction elements and grippers can be conveyed by a transport wheel in the receiving and transfer area. It is also possible to provide only a single transport wheel which conveys both the suction elements and the grippers in the receiving and transfer area.
  • the grippers are conveyed by means of a separate or common transport wheel, they can either be detachably or non-releasably coupled to the transport wheel during transport. If the coupling is undetachable, the grippers basically describe a circular path around the transport wheel, a section of this circular path forming the receiving and transfer area. In another section of the circular path, the products previously transferred to the grippers are then delivered to a downstream conveyor device or any other processing station.
  • the grippers can leave the circular path of the transport wheel after picking up a product in order to convey the picked products into an area spaced apart from the transport wheel.
  • the grippers are preferably coupled to a conveying means which runs in the receiving and transfer area along the corresponding section of the transport wheel.
  • the suction elements are each pivotable between one Pick-up and transfer position on the suction member transport wheel or on the respectively assigned base or carrier unit, which in turn is firmly coupled to the transport wheel, are held.
  • the suction elements can be swiveled during recording and
  • the transfer process can be controlled in such a way that between the suction element and assigned gripper a relative movement arises, which is why ensures that a sucked product is handed over to the gripper.
  • the suction elements are in their transfer position effective leadership means for a defined leadership not product held by suction between the guide means and have a back pressure device.
  • This management tool is used for the already picked up and transferred to a gripper Products defined according to their pick-up and transfer process and ensure that the section of the product which is not held by a gripper, not uncontrolled can move and also preferably not with one or in contact with several grippers running in the conveying direction is coming.
  • the interaction of the guide means with the back pressure device also make sure that on a gripper transferred products are still safely managed when the respective grippers for the purpose of further transport or further processing has already released again.
  • each associated with a suction element Gripper is designed as a pair of grippers, the suction member in the receiving and transfer area between the two grippers of each assigned gripper pair is arranged.
  • each suction member assigned to a gripper is designed as a pair of suction members be, with the gripper in the receiving and transfer area then between the two suction elements of the associated suction element pair is arranged.
  • the gripper movements, the suction member movements as well as the activation of the suction elements preferably from control links and / or toothed belt drives controlled.
  • Fig. 1 shows a side view of a device according to the invention a transport wheel 1 rotating in the direction of the arrow, which runs along its Circumferentially at equidistant intervals with suction elements 2 and grippers 3 is coupled.
  • the number of suction elements coupled to the transport wheel 1 2 is equal to the number of those coupled to the transport wheel 1 Gripper 3.
  • Suction elements 2 and 3 are along the circumference of the Transport wheels 1 arranged offset from each other such that a Suction element 2 between two grippers 3 or a gripper 3 between two Suction elements 2 comes to rest.
  • the suction elements 2 each have a base or carrier unit 4, which is firmly and rigidly coupled to the transport wheel 1.
  • Gripper 3 a base or carrier unit 5, which is rigid and rigid with the Transport wheel 1 is coupled.
  • Base or support units 4 and 5 of the suction elements 2 and the grippers 3 are thus arranged and guide with respect to the transport wheel 1 even when the transport wheel 1 rotates, no relative movements to one another out.
  • the suction members 2 each have a suction head 6, which by a Axis 7 pivotable on the base or support unit 4 of the respective Suction device 2 is stored.
  • the axis 7 extends in turn perpendicular to the direction of rotation of the transport wheel 1.
  • a product stack 8 below the transport wheel 1 is a product stack 8, in particular a Stack of printed matter 9 arranged, of which by means of in Fig. 1 device shown products 9 individually from the suction elements 2 picked up and transferred to a gripper 3 each.
  • the admission and transfer process takes place in the lower one Area of the transport wheel 1.
  • the products handed over to the grippers 3 are turned counterclockwise by rotating the transport wheel 1 on a circular orbit in the upper area of the Transport wheels 1 promoted, which are not held by the grippers 3 Sections of the products 9 due to gravity freely after hanging down.
  • the suction members 2 each have a guide surface 11, against which the named sections of the products can come to rest.
  • these guide surfaces 11 could also be designed as guide rollers, for example.
  • the guide surfaces 11 support the products 9 in the upper region of the transport wheel from below, with the product length shown in FIG. 1 ultimately supporting a product 9 by two guide surfaces 11 of adjacent suction elements 2.
  • a spring-loaded pressure belt 12 provided, which ensures that the products 9 against the guide surfaces 11 of the suction elements 2 are pressed so that the products 9 ultimately between these guide surfaces 11 and the pressure belt 12 are defined. This leadership role will also still executed when the grippers 3 are already open and the Products 9 have released, which ultimately means that the products 9 in the upper area of the transport wheel 1, in which the grippers 3 are opened are exclusively from the guide surfaces 11 and the pressure belt 12 are held and guided.
  • a dashed line runs radially inward from the pressure band 12, only schematically indicated ribbon conveyor 13, which ensures that the leading end portions of the between guide surfaces 11 and pressure belt 12 held products 9 raised and thus radially outward from the orbit of the transport wheel 1 be guided away in this way to a downstream of the transport wheel 1 Conveyor belt 14 can be fed.
  • Fig. 2a illustrates that the suction head 6 of a suction member 2 for receiving of a product 9 relative to the base or carrier unit 4 is pivoted that the suction direction of the suction head 6 essentially is oriented perpendicular to the product surface.
  • the one Bellows suction cup 6 so close to the to be recorded Product 9 introduced that a suction of the product 9 takes place.
  • the sucked product 9 is replaced by one in the direction of the arrow Rotation of the transport wheel 1 as well as by a clockwise Swiveling movement of the suction head 6 relative to the base or Carrier unit 4 increasingly lifted off the product stack 8, what can be seen from FIGS. 2b and 2c.
  • This lifting process is ongoing such that the sucked end of the product 9 in the receiving area of the suction element 2 in the direction of rotation of the transport wheel 1 downstream gripper 3 arrives (Fig. 2c).
  • the gripper 3 can then be closed and switched off the suction of the suction head 6 take place, which leads to the fact that the product 9 originally picked up by the suction head 6 to the gripper 3 was passed and accordingly only held by the gripper 3 will (Fig. 2d).
  • Fig. 3 shows a side view of a second embodiment of an inventive Contraption.
  • the suction members 2 are fixed with a transport wheel 15 coupled, while the grippers 3 releasably engaged with the transport wheel 15 are feasible.
  • the grippers 3 are only schematically dash-dotted with one indicated funding 16 coupled, which is suitable is the gripper 3 of the lower half of the orbit of the transport wheel 15 feed (arrow A) and remove them from this area (Arrow B).
  • the transport wheel 15 is distributed along its circumference with equidistant Grooves 17 provided for receiving the pivot axes 18 of the grippers 3 serve. Relative to the circumference of the transport wheel 15 is one Groove 17 is provided in the middle between two adjacent suction elements 2.
  • the pivot axes 18 of the grippers 3 are with the conveyor 16 coupled and thus form the basic or Carrier units of the grippers 3.
  • the device shown in FIG. 3 ensures that the arrangement of suction elements 2 and grippers 3 in the receiving and transfer section of the transport wheel 15 corresponds exactly to the arrangement that has already been explained with reference to FIG. 1.
  • the functional sequence of the recording and transfer process is accordingly the same for the two devices according to FIGS. 1 and 3.
  • the essential difference between the two devices is that the products transferred from the suction elements 2 to the grippers 3 can be conveyed away from the area of the transport wheel 15 together with the respectively assigned grippers 3 with a device according to FIG. 3, so that accordingly in the area of the transport wheel 15, in contrast to the device according to FIG. 1, the grippers 3 are not opened after picking up a product.
  • Fig. 4 illustrates that both the device of Fig. 1 and 3 not only for receiving stacked products, but also to accommodate delivered in scale formation Products 9 can serve.
  • the admission and handover process is essentially identical here, the only difference is in that the products themselves during the reception and Transfer process in the direction of arrow C are promoted.
  • Fig. 5 shows a side view of a usable according to the invention Gripper 3.
  • This gripper 3 has a base or carrier unit 5, which is firmly coupled to the transport wheel 1, which is only shown in certain areas.
  • the leg 19 leading in the direction of rotation of the transport wheel 1 is made of rigid material, while the corresponding trailing Leg 20 is resilient, so that the recording different thicker products 9 without significant changes in control to enable the gripper 3.
  • Both legs 19, 20 each have one at their radially inner end Guide roller 21, 22, at least in the receiving and transfer area of the transport wheel 1 along guide tracks, not shown run and thus the desired opening and closing movements of the gripper 3 effect.
  • FIG. 5 4 To the left and right of the gripper 3 is a base or carrier unit in FIG. 5 4 indicated for one suction element 2 each. 5 is the same The course of the ribbon conveyor 13 (see Fig. 1) can be seen.
  • FIG. 6 shows a front view of a gripper designed as a pair of grippers 3.
  • the gripper 3 accordingly consists of two side by side arranged gripper elements 23, each gripper element 23 each has two legs 19, 20 for gripping a product 9.
  • leading leg of the two gripper elements 23 are fixed coupled with each other, their movement from the common leadership role 22 is triggered, which is in the receiving and transfer area of the Transport wheels 1 runs along a guide link, not shown.
  • suction head 6 of a suction element 2 is arranged centrally between the two gripper elements 23, so that the suction head 6 easily defines and controls a product 9 can move the area of the open gripper legs without Collide suction head 6 and gripper elements 23.
  • the ribbon conveyor 13 according to FIG. 1 can be formed as a pair of ribbons in this embodiment, whereby it is achieved that a lifting of the product 9 from both Gripper elements 23 can be done easily.
  • Fig. 7 shows schematically that alternatively to the embodiment according to 6 only a single gripper 25 can be used, which has two gripper legs 26 and 27, between which a product 9 is held.
  • a suction member 28 is arranged to the right of the individual gripper 25 is the necessary for the recording and transfer process pivoting movements Execute in parallel and synchronously with each other. Is preferred it occurs when both suction elements 28 are mechanically rigidly coupled to one another become. Just like the movements of the suction elements 28, this takes place Activation of the suction function in both suction elements 28 in a time-synchronous manner Wise.
  • FIG. 7 can be particularly advantageous in an arrangement according to FIG. 3 with rotating on a transport wheel 15 Suction elements 2 and grippers conveyed along a conveying means 16 3 are used.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Feeding Of Articles By Means Other Than Belts Or Rollers (AREA)
  • Sheets, Magazines, And Separation Thereof (AREA)
  • Specific Conveyance Elements (AREA)
  • Control And Other Processes For Unpacking Of Materials (AREA)
  • Supplying Of Containers To The Packaging Station (AREA)
  • Massaging Devices (AREA)
  • Surface Heating Bodies (AREA)
  • Refuse Collection And Transfer (AREA)
  • Discharge By Other Means (AREA)
  • External Artificial Organs (AREA)

Abstract

The arrangement has a number of gripping devices (3) in sequence and movable along a gripper transport path and a number of suction elements (2) movable along a suction element transport path to a holder for each product (9) in an acquisition and trans region. The suction element transport path runs along or parallel to the gripper transport path in the acquisition and transfer region.

Description

Die Erfindung betrifft eine Vorrichtung zum Ab- und/oder Weitertransportieren von flexiblen, flächigen Erzeugnissen, insbesondere Druckereierzeugnissen, mit einer Mehrzahl entlang einer Greifer-Förderstrecke bewegbaren, in Transportrichtung aufeinanderfolgenden Greifern und einer Mehrzahl von entlang einer Saugorgan-Förderstrecke bewegbaren Saugorganen zur in einem Aufnahme- und Übergabebereich erfolgenden Aufnahme jeweils eines Erzeugnisses und zur Übergabe des aufgenommenen Erzeugnisses an einen Greifer.The invention relates to a device for removal and / or further transportation of flexible, flat products, especially printed products, with a plurality that can be moved along a gripper conveyor line, in the direction of transport successive grippers and one A plurality of suction elements that can be moved along a suction element conveying path for the reception in a reception and transfer area one product at a time and to hand over the recorded product Product to a gripper.

Derartige Vorrichtungen sind dazu geeignet, stapelförmig angeordnete oder in Schuppenformation angelieferte Erzeugnisse einzeln mittels der genannten Saugorgane aufzunehmen und die aufgenommenen Erzeugnisse an Greifer zu übergeben, die die gegriffenen Erzeugnisse dann ihrer Weiterverarbeitung zuführen. Dabei wird von den Saugorganen jedem Greifer immer genau ein Erzeugnis übergeben, so daß es die genannte Vorrichtung ermöglicht, die Erzeugnisse einzeln aufzunehmen und sie einzeln ihrer Weiterverarbeitung zuzuführen.Such devices are suitable for stacking or products delivered in scale form individually using the absorbing devices mentioned and the absorbed products to hand over to grippers, who then grasp the gripped products Carry out further processing. Each of the suction organs Always pass the gripper exactly one product, so that it is the one named Device allows to pick up the products individually and them to be fed individually for further processing.

Eine Aufgabe der Erfindung besteht darin, die vorstehend beschriebenen Vorrichtungen derart weiterzubilden, daß mit wirtschaftlich vertretbarem Aufwand zum einen in erhöhtem Maße die Sicherheit einer fehlerfreien Aufnahme und Übergabe der Erzeugnisse garantiert werden kann und zum anderen eine Erhöhung der Geschwindigkeit des Aufnahme- und Übergabeprozesses möglich wird.An object of the invention is that described above Develop devices in such a way that with economically justifiable Effort on the one hand increases the security of an error-free Acceptance and delivery of the products can be guaranteed and on the other hand an increase in the speed of recording and Transfer process is possible.

Erfindungsgemäß wird diese Aufgabe dadurch gelöst, daß die Saugorgan-Förderstrecke im Aufnahme- und Übergabebereich entlang oder parallel zur Greifer-Förderstrecke verläuft.According to the invention, this object is achieved in that the suction member conveyor line in the receiving and transfer area along or parallel to the gripper conveyor line.

Durch diesen erfindungsgemäßen Verlauf der Saugorgan- und der Greifer-Förderstrecke wird erreicht, daß sich Saugorgane und Greifer während des Aufnahme- und Übergabeprozesses von Erzeugnissen gleichförmig entlang einer zumindest weitgehend gemeinsamen Bahnkurve nebeneinander herbewegen. Dies hat gegenüber bekannten Vorrichtungen, bei denen sich Saugorgane und Greifer während des Aufnahme- und Übergabeprozesses auf unterschiedlichen Bahnkurven bewegen, den Vorteil, daß keine durch unterschiedliche Bahnkurven bedingten Relativbewegungen zwischen Saugorganen und Greifern auftreten, so daß die sich erfindungsgemäß mit gleicher Geschwindigkeit auf einander entsprechenden Bahnkurven bewegenden Saugorgane und Greifer mit ihren Basis- bzw. Trägereinheiten weitgehend ortsfest zueinander angeordnet sind. Hierdurch ergibt sich eine vereinfachte Ansteuerung und Synchronisation der beweglichen bzw. steuerbaren Saugorgan- und Greiferteile, da bei dieser Steuerung und Synchronisation keine unterschiedlichen Bahnkurven der Basis- bzw. Trägereinheiten von Saugorganen und Greifern berücksichtigt werden müssen. Aufgrund dieser Vereinfachung werden Fehler bei der Aufnahme und Übergabe der Erzeugnisse weitgehend ausgeschlossen. Zudem bedingt die genannte Vereinfachung, daß der Aufnahme- und Übergabeprozeß mit hoher Geschwindigkeit vonstatten gehen kann, ohne daß hierdurch eine Beeinträchtigung des fehlerfreien Ablaufs des Aufnahme- und Übergabeprozesses in Kauf genommen werden müßte.Through this course of the suction member and the gripper conveyor line according to the invention is achieved that suction organs and grippers during the process of receiving and transferring products uniformly along an at least largely common trajectory move around. This has compared to known devices in which suction elements and grippers during the pick-up and transfer process move on different trajectories, the advantage that no relative movements caused by different trajectory curves occur between suction elements and grippers, so that the invention corresponding to each other at the same speed Suction elements and grippers that move trajectories with their base or Carrier units are largely fixed to each other. Hereby this results in a simplified control and synchronization of the movable or controllable suction organ and gripper parts, as with this Control and synchronization no different trajectories of the Base and support units of suction elements and grippers are taken into account Need to become. Due to this simplification, errors in the Acceptance and handover of the products largely excluded. In addition, the aforementioned simplification requires that the admission and Handover process can proceed at high speed without that this would have to put up with an impairment of the error-free process of the admission and transfer process.

Bevorzugt ist es, wenn die Länge des entlang oder parallel zur Greifer-Förderstrecke verlaufenden Abschnitts der Saugorgan-Förderstrecke so bemessen ist, daß zumindest zwei aufeinanderfolgende Greifer in diesem Abschnitt Platz finden. Durch diese Mindestlänge des Abschnitts, in dem beide Förderstrecken entlang einander entsprechender Bahnkurven verlaufen, wird sichergestellt, daß der gesamte Aufnahme- und Übergabeprozeß innerhalb des genannten Abschnitts stattfinden kann, so daß Relativbewegungen der Basis- bzw. Trägereinheiten von Saugorganen und Greifern während dieses Prozesses ausgeschlossen werden können.It is preferred if the length of the along or parallel to the gripper conveyor line running section of the suction member conveyor line so is dimensioned that at least two successive grippers in this Find a section. By this minimum length of the section in which both conveyor lines run along corresponding curve curves, it is ensured that the entire admission and transfer process can take place within said section, so that relative movements the base or carrier units of suction elements and grippers can be excluded during this process.

Die Greifer-Förderstrecke und die Saugorgan-Förderstrecke können im Aufnahme- und Übergabebereich beispielsweise auf konzentrischen Kreisbahnen verlaufen. Dies ermöglicht eine einfache Fördermöglichkeit für Saugorgane und Greifer, da in beiden Fällen ein Antrieb mittels einer oder mehrerer Transporträder möglich wird.The gripper conveyor line and the suction element conveyor line can in Pick-up and transfer area, for example on concentric circular paths run. This enables an easy funding opportunity for Suction elements and grippers, since in both cases a drive by means of or several transport wheels is possible.

Von Vorteil ist es, wenn im Aufnahme- und Übergabebereich jeweils ein Greifer und ein Saugorgan einander zugeordnet sind. Insbesondere kann im Aufnahme- und Übergabebereich der Abstand zweier aufeinanderfolgender Greifer dem Abstand zweier aufeinanderfolgender Saugorgane entsprechen. So können jeweils ein Greifer und ein Saugorgan mit optimiertem Abstand zueinander den Aufnahme- und Übergabebereich auf ihren einander entsprechenden Bahnkurven durchlaufen, was den hinsichtlich der Gesamtanordnung zu betreibenden mechanischen Aufwand minimiert und die Fehlerfreiheit und Geschwindigkeit des Aufnahme- und Übergabeprozesses optimiert.It is advantageous if there is one in each of the receiving and transfer areas Grippers and a suction element are assigned to each other. In particular, can the distance between two successive ones in the receiving and transfer area The gripper corresponds to the distance between two successive suction elements. So a gripper and a suction element with optimized Distance from each other the receiving and transfer area on their go through corresponding trajectory curves, which in terms of the overall arrangement to be operated minimized mechanical effort and the correctness and speed of the recording and transfer process optimized.

Bevorzugt verlaufen Saugorgan-Förderstrecke und Greifer-Förderstrecke im Aufnahme- und Übergabebereich in etwa mittig entlang, insbesondere mittig über den aufzunehmenden Erzeugnissen. Dadurch wird erreicht, daß seitlich neben den aufzunehmenden und aufgenommenen Erzeugnissen keinerlei mechanische Einrichtungen vorgesehen werden müssen.The suction member conveyor section and the gripper conveyor section preferably run in the receiving and transfer area approximately in the middle, in particular centered over the products to be picked up. This ensures that laterally next to the products to be picked up and picked up no mechanical devices have to be provided.

Saugorgane und Greifer können - wie bereits erwähnt - im Aufnahme- und Übergabebereich durch jeweils ein Transportrad gefördert werden. Ebenso ist es möglich, lediglich ein einziges Transportrad vorzusehen, welches sowohl die Saugorgane als auch die Greifer im Aufnahme- und Übergabebereich fördert.
Für den Fall, daß die Greifer mittels eines separaten oder gemeinsamen Transportrades gefördert werden, können diese während des Transports entweder lösbar oder unlösbar mit dem Transportrad koppelbar sein. Bei unlösbarer Koppelung beschreiben die Greifer grundsätzlich eine Kreisbahn um das Transportrad, wobei ein Abschnitt dieser Kreisbahn den Aufnahme- und Übergabebereich bildet. In einem anderen Abschnitt der Kreisbahn erfolgt dann eine Abgabe der zuvor an die Greifer übergebenen Erzeugnisse an eine nachgeschaltete Fördervorrichtung oder eine beliebige andere Weiterverarbeitungsstation.
Bei lösbarer Koppelung der Greifer mit dem Transportrad können die Greifer nach Aufnahme eines Erzeugnisses die Kreisbahn des Transportrades verlassen, um die aufgenommenen Erzeugnisse in einen vom Transportrad beabstandeten Bereich zu fördern. Zu diesem Zweck sind die Greifer bevorzugt mit einem Fördermittel gekoppelt, welches im Aufnahme- und Übergabebereich entlang des entsprechenden Abschnitts des Transportrads verläuft.As already mentioned, suction elements and grippers can be conveyed by a transport wheel in the receiving and transfer area. It is also possible to provide only a single transport wheel which conveys both the suction elements and the grippers in the receiving and transfer area.
In the event that the grippers are conveyed by means of a separate or common transport wheel, they can either be detachably or non-releasably coupled to the transport wheel during transport. If the coupling is undetachable, the grippers basically describe a circular path around the transport wheel, a section of this circular path forming the receiving and transfer area. In another section of the circular path, the products previously transferred to the grippers are then delivered to a downstream conveyor device or any other processing station.
If the grippers are detachably coupled to the transport wheel, the grippers can leave the circular path of the transport wheel after picking up a product in order to convey the picked products into an area spaced apart from the transport wheel. For this purpose, the grippers are preferably coupled to a conveying means which runs in the receiving and transfer area along the corresponding section of the transport wheel.

Es ist von Vorteil, wenn die Saugorgane jeweils schwenkbar zwischen einer Aufnahme- und einer Übergabeposition am Saugorgan-Transportrad bzw. an der jeweils zugeordneten Basis- bzw. Trägereinheit, welche ihrerseits fest mit dem Transportrad gekoppelt ist, gehalten sind. Durch diese Schwenkbarkeit können die Saugorgane während des Aufnahme- und Übergabeprozesses gezielt so angesteuert werden, daß zwischen Saugorgan und zugeordnetem Greifer eine Relativbewegung entsteht, welche dafür sorgt, daß ein angesaugtes Erzeugnis dem Greifer übergeben wird.It is advantageous if the suction elements are each pivotable between one Pick-up and transfer position on the suction member transport wheel or on the respectively assigned base or carrier unit, which in turn is firmly coupled to the transport wheel, are held. Through this The suction elements can be swiveled during recording and The transfer process can be controlled in such a way that between the suction element and assigned gripper a relative movement arises, which is why ensures that a sucked product is handed over to the gripper.

Weiterhin ist es vorteilhaft, wenn die Saugorgane ein in deren Übergabeposition wirksames Führungsmittel zum definierten Führen eines nicht mittels Saugwirkung gehaltenen Erzeugnisses zwischen dem Führungsmittel und einer Gegendruck-Vorrichtung aufweisen. Dieses Führungsmittel dient dazu, die bereits aufgenommenen und an einen Greifer übergebenen Erzeugnisse nach ihrem Aufnahme- und Übergabeprozeß definiert zu führen und dafür zu sorgen, daß sich derjenige Abschnitt des Erzeugnisses, der nicht von einem Greifer gehalten wird, nicht unkontrolliert bewegen kann und darüber hinaus bevorzugt auch nicht mit einem oder mehreren in Förderrichtung nachlaufenden Greifern in Berührung kommt. Insbesondere kann das Zusammenwirken des Führungsmittels mit der Gegendruck-Vorrichtung auch sicherstellen, daß an einen Greifer übergebene Erzeugnisse auch dann noch sicher geführt werden, wenn der jeweilige Greifer sie zum Zweck des Weitertransports oder der Weiterverarbeitung bereits wieder freigegeben hat. Furthermore, it is advantageous if the suction elements are in their transfer position effective leadership means for a defined leadership not product held by suction between the guide means and have a back pressure device. This management tool is used for the already picked up and transferred to a gripper Products defined according to their pick-up and transfer process and ensure that the section of the product which is not held by a gripper, not uncontrolled can move and also preferably not with one or in contact with several grippers running in the conveying direction is coming. In particular, the interaction of the guide means with the back pressure device also make sure that on a gripper transferred products are still safely managed when the respective grippers for the purpose of further transport or further processing has already released again.

Die Wirkungsweise von Führungsmittel und Gegendruck-Vorrichtung wird im Rahmen der Figurenbeschreibung noch anschaulich erläutert.The operation of the guide means and counter pressure device explained clearly in the context of the figure description.

Im Rahmen der Erfindung ist es möglich, daß jeder einem Saugorgan zugeordnete Greifer als Greiferpaar ausgebildet wird, wobei das Saugorgan im Aufnahme- und Übergabebereich zwischen den beiden Greifern des jeweils zugeordneten Greiferpaares angeordnet ist. Alternativ kann jedoch auch jedes einem Greifer zugeordnete Saugorgan als Saugorgan-Paar ausgebildet werden, wobei der Greifer im Aufnahme- und Übergabebereich dann zwischen den beiden Saugorganen des jeweils zugeordneten Saugorgan-Paares angeordnet ist.In the context of the invention it is possible that each associated with a suction element Gripper is designed as a pair of grippers, the suction member in the receiving and transfer area between the two grippers of each assigned gripper pair is arranged. Alternatively, however each suction member assigned to a gripper is designed as a pair of suction members be, with the gripper in the receiving and transfer area then between the two suction elements of the associated suction element pair is arranged.

Im Rahmen der Erfindung werden die Greiferbewegungen, die Saugorganbewegungen sowie die Aktivierung der Saugorgane bevorzugt von Steuerkulissen und/oder Zahnriemengetrieben gesteuert.In the context of the invention, the gripper movements, the suction member movements as well as the activation of the suction elements preferably from control links and / or toothed belt drives controlled.

Weitere bevorzugte Ausführungsformen der Erfindung sind in den Unteransprüchen angegeben.Further preferred embodiments of the invention are in the subclaims specified.

Die Erfindung wird nachfolgend anhand von Ausführungsbeispielen unter Bezugnahme auf die Zeichnungen erläutert; in diesen zeigen:

Fig. 1
eine Seitenansicht eines Ausführungsbeispiels einer erfindungsgemäßen Vorrichtung mit an einem Transportrad umlaufenden Greifern und Saugorganen, wobei die Vorrichtung zur Aufnahme von stapelförmig angeordneten Erzeugnissen eingesetzt ist,
Fig. 2a bis d
vier Verfahrensschritte des mittels der Vorrichtung gemäß Fig. 1 bewerkstelligten Aufnahme- und Übergabeprozesses,
Fig. 3
eine Seitenansicht einer zweiten Ausführungsform einer erfindungsgemäßen Vorrichtung mit an einem Transportrad umlaufenden Saugorganen und entlang eines Fördermittels geförderten Greifern, wobei die Vorrichtung ebenfalls zur Aufnahme von stapelförmig angeordneten Erzeugnissen eingesetzt ist,
Fig. 4
den Aufnahme- und Übergabeabschnitt einer Vorrichtung gemäß den Fig. 1 oder 3, wobei die Vorrichtung zur Aufnahme von schuppenförmig angelieferten Erzeugnissen eingesetzt ist,
Fig. 5
eine Seitenansicht eines erfindungsgemäß verwendbaren Greifers,
Fig. 6
eine Frontalansicht eines als Greiferpaar ausgebildeten Greifers mit innenliegendem Saugorgan, und
Fig. 7
eine Frontalansicht eines als Einzeigreifer ausgebildeten Greifers mit außenliegenden Saugorganen.
The invention is explained below using exemplary embodiments with reference to the drawings; in these show:
Fig. 1
2 shows a side view of an exemplary embodiment of a device according to the invention with grippers and suction elements rotating on a transport wheel, the device being used for receiving products arranged in a stack,
2a to d
four process steps of the recording and transfer process carried out by means of the device according to FIG. 1,
Fig. 3
2 shows a side view of a second embodiment of a device according to the invention with suction members rotating on a transport wheel and grippers conveyed along a conveying means, the device also being used to hold products arranged in a stack,
Fig. 4
1 or 3, the device being used for receiving products delivered in the form of scales,
Fig. 5
2 shows a side view of a gripper which can be used according to the invention,
Fig. 6
a front view of a gripper designed as a pair of grippers with an internal suction member, and
Fig. 7
a front view of a gripper designed as a single gripper with external suction elements.

Fig. 1 zeigt eine Seitenansicht einer erfindungsgemäßen Vorrichtung mit einem in Pfeilrichtung umlaufenden Transportrad 1, das entlang seines Umfangs in äquidistanten Abständen mit Saugorganen 2 und Greifern 3 gekoppelt ist. Die Anzahl der mit dem Transportrad 1 gekoppelten Saugorgane 2 ist gleich der Anzahl der mit dem Transportrad 1 gekoppelten Greifer 3. Saugorgane 2 und Greifer 3 sind entlang des Umfangs des Transportrads 1 derart zueinander versetzt angeordnet, daß jeweils ein Saugorgan 2 zwischen zwei Greifern 3 bzw. ein Greifer 3 zwischen zwei Saugorganen 2 zu liegen kommt.Fig. 1 shows a side view of a device according to the invention a transport wheel 1 rotating in the direction of the arrow, which runs along its Circumferentially at equidistant intervals with suction elements 2 and grippers 3 is coupled. The number of suction elements coupled to the transport wheel 1 2 is equal to the number of those coupled to the transport wheel 1 Gripper 3. Suction elements 2 and 3 are along the circumference of the Transport wheels 1 arranged offset from each other such that a Suction element 2 between two grippers 3 or a gripper 3 between two Suction elements 2 comes to rest.

Die Saugorgane 2 besitzen jeweils eine Basis- bzw. Trägereinheit 4, welche fest und starr mit dem Transportrad 1 gekoppelt ist. Ebenso besitzt jeder Greifer 3 eine Basis- bzw. Trägereinheit 5, die fest und starr mit dem Transportrad 1 gekoppelt ist.The suction elements 2 each have a base or carrier unit 4, which is firmly and rigidly coupled to the transport wheel 1. Everyone also owns Gripper 3 a base or carrier unit 5, which is rigid and rigid with the Transport wheel 1 is coupled.

Basis- bzw. Trägereinheiten 4 und 5 der Saugorgane 2 und der Greifer 3 sind somit bezüglich des Transportrades 1 ortsfest angeordnet und führen auch bei Rotation des Transportrades 1 keinerlei Relativbewegungen zueinander aus.Base or support units 4 and 5 of the suction elements 2 and the grippers 3 are thus arranged and guide with respect to the transport wheel 1 even when the transport wheel 1 rotates, no relative movements to one another out.

Die Saugorgane 2 besitzen jeweils einen Saugkopf 6, welcher um eine Achse 7 schwenkbar an der Basis- bzw. Trägereinheit 4 des jeweiligen Saugorgans 2 gelagert ist. Die Achse 7 erstreckt sich dabei wiederum senkrecht zur Umlaufrichtung des Transportrades 1.The suction members 2 each have a suction head 6, which by a Axis 7 pivotable on the base or support unit 4 of the respective Suction device 2 is stored. The axis 7 extends in turn perpendicular to the direction of rotation of the transport wheel 1.

Unterhalb des Transportrads 1 ist ein Erzeugnisstapel 8, insbesondere ein Stapel von Druckereierzeugnissen 9 angeordnet, von dem mittels der in Fig. 1 dargestellten Vorrichtung Erzeugnisse 9 einzeln von den Saugorganen 2 aufgenommen und an jeweils einen Greifer 3 übergeben werden. Below the transport wheel 1 is a product stack 8, in particular a Stack of printed matter 9 arranged, of which by means of in Fig. 1 device shown products 9 individually from the suction elements 2 picked up and transferred to a gripper 3 each.

Dementsprechend erfolgt der Aufnahme- und Übergabeprozeß im unteren Bereich des Transportrads 1. Die den Greifern 3 übergebenen Erzeugnisse werden durch die Drehung des Transportrads 1 entgegen dem Uhrzeigersinn auf einer kreisförmigen Umlaufbahn in den oberen Bereich des Transportrads 1 gefördert, wobei die nicht von den Greifern 3 gehaltenen Abschnitte der Erzeugnisse 9 aufgrund Schwerkrafteinwirkung frei nach unten hängen.Accordingly, the admission and transfer process takes place in the lower one Area of the transport wheel 1. The products handed over to the grippers 3 are turned counterclockwise by rotating the transport wheel 1 on a circular orbit in the upper area of the Transport wheels 1 promoted, which are not held by the grippers 3 Sections of the products 9 due to gravity freely after hanging down.

Die radiale, von der Drehachse 10 des Transportrades 1 weg gerichtete Erstreckung der Saugorgane 2 ist etwas größer als die entsprechende radiale Erstreckung der Greifer 3, so daß die erwähnten, nach unten hängenden Abschnitte der Erzeugnisse 9 lediglich die Saugorgane 2 und nicht die Greifer 3 berühren. So wird auf vorteilhafte Weise eine Beschädigung der Erzeugnisse 9 durch die Greifer 3 vermieden.
Bei der in Fig. 1 dargestellten bevorzugten Ausführungsform der Erfindung weisen die Saugorgane jeweils eine Führungsfläche 11 auf, an denen die genannten Abschnitte der Erzeugnisse zur Anlage kommen können. Diese Führungsflächen 11 könnten alternativ beispielsweise auch als Führungsrollen ausgebildet sein. Die Führungsflächen 11 stützen die Erzeugnisse 9 im oberen Bereich des Transportrades von unten ab, wobei bei der in Fig. 1 dargestellten Erzeugnislänge letztlich eine Abstützung eines Erzeugnisses 9 durch zwei Führungsflächen 11 benachbarter Saugorgane 2 stattfindet.The radial extension of the suction members 2 directed away from the axis of rotation 10 of the transport wheel 1 is somewhat larger than the corresponding radial extension of the grippers 3, so that the above-mentioned, hanging portions of the products 9 only touch the suction members 2 and not the grippers 3 . Damage to the products 9 by the grippers 3 is thus advantageously avoided.
In the preferred embodiment of the invention shown in FIG. 1, the suction members each have a guide surface 11, against which the named sections of the products can come to rest. Alternatively, these guide surfaces 11 could also be designed as guide rollers, for example. The guide surfaces 11 support the products 9 in the upper region of the transport wheel from below, with the product length shown in FIG. 1 ultimately supporting a product 9 by two guide surfaces 11 of adjacent suction elements 2.

Im oberen Bereich des Transportrades 1 ist ein gefedertes Andrückband 12 vorgesehen, welches dafür sorgt, daß die Erzeugnisse 9 gegen die Führungsflächen 11 der Saugorgane 2 gedrückt werden, so daß die Erzeugnisse 9 letztlich zwischen diesen Führungsflächen 11 und dem Andrückband 12 definiert geführt werden. Diese Führungsfunktion wird auch noch dann ausgeführt, wenn die Greifer 3 bereits geöffnet sind und die Erzeugnisse 9 freigegeben haben, was letztlich bedeutet, daß die Erzeugnisse 9 im oberen Bereich des Transportrades 1, in dem die Greifer 3 geöffnet sind, ausschließlich von den Führungsflächen 11 und dem Andrückband 12 gehalten und geführt werden.In the upper area of the transport wheel 1 is a spring-loaded pressure belt 12 provided, which ensures that the products 9 against the guide surfaces 11 of the suction elements 2 are pressed so that the products 9 ultimately between these guide surfaces 11 and the pressure belt 12 are defined. This leadership role will also still executed when the grippers 3 are already open and the Products 9 have released, which ultimately means that the products 9 in the upper area of the transport wheel 1, in which the grippers 3 are opened are exclusively from the guide surfaces 11 and the pressure belt 12 are held and guided.

Radial nach innen vom Andrückband 12 beabstandet verläuft ein gestrichelt, lediglich schematisch angedeuteter Bändchenförderer 13, welcher dafür sorgt, daß die vorlaufenden Endabschnitte der zwischen Führungsflächen 11 und Andrückband 12 gehaltenen Erzeugnisse 9 angehoben und somit radial nach außen aus der Umlaufbahn des Transportrades 1 weggeführt werden, um auf diese Weise einem dem Transportrad 1 nachgeordneten Förderband 14 zugeführt werden zu können.A dashed line runs radially inward from the pressure band 12, only schematically indicated ribbon conveyor 13, which ensures that the leading end portions of the between guide surfaces 11 and pressure belt 12 held products 9 raised and thus radially outward from the orbit of the transport wheel 1 be guided away in this way to a downstream of the transport wheel 1 Conveyor belt 14 can be fed.

Die Fig. 2a bis d zeigen nochmals in Detailansicht die einzelnen Verfahrensschritte zur Aufnahme und Übergabe der Erzeugnisse 9 mit einer Vorrichtung gemäß Fig. 1.2a to d again show the individual method steps in a detailed view for receiving and transferring the products 9 with a device 1.

Fig. 2a veranschaulicht, daß der Saugkopf 6 eines Saugorgans 2 zur Aufnahme eines Erzeugnisses 9 so gegenüber der Basis- bzw. Trägereinheit 4 verschwenkt wird, daß die Saugrichtung des Saugkopfes 6 im wesentlichen senkrecht zur Erzeugnisoberfläche orientiert ist. Dabei wird der einen Balgsauger aufweisende Saugkopf 6 so nahe an das aufzunehmende Erzeugnis 9 herangeführt, daß ein Ansaugen des Erzeugnisses 9 stattfindet. Fig. 2a illustrates that the suction head 6 of a suction member 2 for receiving of a product 9 relative to the base or carrier unit 4 is pivoted that the suction direction of the suction head 6 essentially is oriented perpendicular to the product surface. The one Bellows suction cup 6 so close to the to be recorded Product 9 introduced that a suction of the product 9 takes place.

Das angesaugte Erzeugnis 9 wird durch eine in Pfeilrichtung erfolgende Rotation des Transportrades 1 sowie durch eine im Uhrzeigersinn erfolgende Schwenkbewegung des Saugkopfes 6 gegenüber der Basis- bzw. Trägereinheit 4 in zunehmendem Maße vom Erzeugnisstapel 8 abgehoben, was aus den Fig. 2b und 2c ersichtlich ist. Dieser Abhebeprozeß verläuft derart, daß das angesaugte Ende des Erzeugnisses 9 in den Aufnahmebereich des dem Saugorgan 2 in Umlaufrichtung des Transportrades 1 nachgeordneten Greifers 3 gelangt (Fig. 2c).The sucked product 9 is replaced by one in the direction of the arrow Rotation of the transport wheel 1 as well as by a clockwise Swiveling movement of the suction head 6 relative to the base or Carrier unit 4 increasingly lifted off the product stack 8, what can be seen from FIGS. 2b and 2c. This lifting process is ongoing such that the sucked end of the product 9 in the receiving area of the suction element 2 in the direction of rotation of the transport wheel 1 downstream gripper 3 arrives (Fig. 2c).

In dieser Position kann dann ein Schließen des Greifers 3 sowie ein Abschalten der Saugwirkung des Saugkopfes 6 erfolgen, was dazu führt, daß das ursprünglich vom Saugkopf 6 aufgenommene Erzeugnis 9 dem Greifer 3 übergeben wurde und dementsprechend nur noch vom Greifer 3 gehalten wird (Fig. 2d).In this position, the gripper 3 can then be closed and switched off the suction of the suction head 6 take place, which leads to the fact that the product 9 originally picked up by the suction head 6 to the gripper 3 was passed and accordingly only held by the gripper 3 will (Fig. 2d).

Nach dieser Übergabe des Erzeugnisses 9 an den Greifer 3 verbleibt der Saugkopf 6 im wesentlichen in seiner in Fig. 2d dargestellten Schwenkposition, da in dieser Position die Führungsfläche 11 des Saugorgans 2 so ausgerichtet ist, daß sie die vorstehend bereits erläuterte Funktion der Abstützung von dem jeweiligen Saugorgan 2 vorlaufenden Erzeugnissen übernehmen kann.After this transfer of the product 9 to the gripper 3, the remains Suction head 6 essentially in its pivot position shown in FIG. 2d, since in this position the guide surface 11 of the suction member 2 so is aligned that it has the function of Support from the respective suction element 2 leading products can take over.

Aus Fig. 1 ist ersichtlich, daß ein Zurückschwenken der Saugköpfe 6 in ihre Aufnahmeposition erst wieder dann erfolgt, wenn die Erzeugnisse 9 durch den Bändchenförderer 13 von den Führungsflächen 11 abgehoben wurden. From Fig. 1 it can be seen that a swiveling back of the suction heads 6 in it will only take up its position again when the products 9 lifted from the guide surfaces 11 by the ribbon conveyor 13 were.

Fig. 3 zeigt eine Seitenansicht einer zweiten Ausführungsform einer erfindungsgemäßen Vorrichtung. Im Unterschied zu der Vorrichtung gemäß Fig. 1 sind hier lediglich die Saugorgane 2 fest mit einem Transportrad 15 gekoppelt, während die Greifer 3 lösbar mit dem Transportrad 15 in Eingriff bringbar sind. Alternativ wäre es auch möglich, zwei separate, nebeneinander angeordnete Transporträder für Greifer 3 und Saugorgane 2 vorzusehen. Die Greifer 3 sind mit einem lediglich schematisch, strichpunktiert angedeuteten Fördermittel 16 gekoppelt, welches dazu geeignet ist, die Greifer 3 der unteren Hälfte der Umlaufbahn des Transportrads 15 zuzuführen (Pfeil A) und sie aus diesem Bereich auch wieder wegzuführen (Pfeil B).Fig. 3 shows a side view of a second embodiment of an inventive Contraption. In contrast to the device according to 1, only the suction members 2 are fixed with a transport wheel 15 coupled, while the grippers 3 releasably engaged with the transport wheel 15 are feasible. Alternatively, it would also be possible to have two separate, side by side arranged transport wheels for grippers 3 and suction elements 2 to provide. The grippers 3 are only schematically dash-dotted with one indicated funding 16 coupled, which is suitable is the gripper 3 of the lower half of the orbit of the transport wheel 15 feed (arrow A) and remove them from this area (Arrow B).

Zum Zweck der lösbaren Kopplung zwischen Greifern 3 und Transportrad 15 ist das Transportrad 15 an seinem Umfang mit äquidistant verteilten Nuten 17 versehen, die zur Aufnahme der Schwenkachsen 18 der Greifer 3 dienen. Bezogen auf den Umfang des Transportrads 15 ist jeweils eine Nut 17 in der Mitte zwischen zwei benachbarten Saugorganen 2 vorgesehen. Die Schwenkachsen 18 der Greifer 3 sind mit dem Fördermittel 16 gekoppelt und bilden somit in diesem Ausführungsbeispiel die Basis- bzw. Trägereinheiten der Greifer 3.For the purpose of releasable coupling between grippers 3 and transport wheel 15, the transport wheel 15 is distributed along its circumference with equidistant Grooves 17 provided for receiving the pivot axes 18 of the grippers 3 serve. Relative to the circumference of the transport wheel 15 is one Groove 17 is provided in the middle between two adjacent suction elements 2. The pivot axes 18 of the grippers 3 are with the conveyor 16 coupled and thus form the basic or Carrier units of the grippers 3.

Durch die in Fig. 3 gezeigte Vorrichtung wird sichergestellt, daß die Anordnung von Saugorganen 2 und Greifern 3 im Aufnahme- und Übergabeabschnitt des Transportrads 15 genau derjenigen Anordnung entspricht, die bereits in bezug auf Fig. 1 erläutert wurde. Der funktionelle Ablauf des Aufnahme- und Übergabeprozesses ist dementsprechend bei den beiden Vorrichtungen gemäß den Fig. 1 und 3 gleich. Der wesentliche Unterschied zwischen beiden Vorrichtungen besteht darin, daß die von den Saugorganen 2 an die Greifer 3 übergebenen Erzeugnisse mit einer Vorrichtung gemäß Fig. 3 aus dem Bereich des Transportrads 15 gemeinsam mit den jeweils zugeordneten Greifern 3 weggefördert werden können, so daß dementsprechend im Bereich des Transportrads 15 im Gegensatz zur Vorrichtung gemäß Fig. 1 nach dem Aufnehmen eines Erzeugnisses kein Öffnen der Greifer 3 erfolgt.
Alternativ zu dem Ausführungsbeispiel gemäß Fig 3 ist es auch möglich, das Fördermittel 16 in einem anderen Winkel als dem in Fig. 3 dargestellten zum Transportrad 15 hin oder vom Transportrad 15 wegzuführen, so daß letztlich die in Fig. 3 dargestellten Pfeile A und 8 nicht parallel zueinander verlaufen müssen.The device shown in FIG. 3 ensures that the arrangement of suction elements 2 and grippers 3 in the receiving and transfer section of the transport wheel 15 corresponds exactly to the arrangement that has already been explained with reference to FIG. 1. The functional sequence of the recording and transfer process is accordingly the same for the two devices according to FIGS. 1 and 3. The essential difference between the two devices is that the products transferred from the suction elements 2 to the grippers 3 can be conveyed away from the area of the transport wheel 15 together with the respectively assigned grippers 3 with a device according to FIG. 3, so that accordingly in the area of the transport wheel 15, in contrast to the device according to FIG. 1, the grippers 3 are not opened after picking up a product.
As an alternative to the exemplary embodiment according to FIG. 3, it is also possible to guide the conveying means 16 towards the transport wheel 15 or away from the transport wheel 15 at an angle other than that shown in FIG. 3, so that ultimately the arrows A and 8 shown in FIG. 3 do not must run parallel to each other.

Fig. 4 veranschaulicht, daß sowohl die Vorrichtung gemäß Fig. 1 als auch die Vorrichtung gemäß Fig. 3 nicht nur zur Aufnahme von gestapelten Erzeugnissen, sondern auch zur Aufnahme von in Schuppenformation angelieferten Erzeugnissen 9 dienen kann. Der Aufnahme- und Übergabeprozeß verläuft hier im wesentlichen identisch, der einzige Unterschied besteht darin, daß die Erzeugnisse selbst während des Aufnahme- und Übergabeprozesses in Richtung des Pfeiles C gefördert werden.Fig. 4 illustrates that both the device of Fig. 1 and 3 not only for receiving stacked products, but also to accommodate delivered in scale formation Products 9 can serve. The admission and handover process is essentially identical here, the only difference is in that the products themselves during the reception and Transfer process in the direction of arrow C are promoted.

Fig. 5 zeigt eine Seitenansicht eines erfindungsgemäß verwendbaren Greifers 3. Dieser Greifer 3 besitzt eine Basis- bzw. Trägereinheit 5, welche fest mit dem nur bereichsweise dargestellten Transportrad 1 gekoppelt ist. Am radial äußeren Ende der Basis- und Trägereinheit 5 ist eine sich senkrecht zur Umlaufrichtung des Transportrads 1 erstreckende Achse 18 vorgesehen, um die zwei Schenkel 19, 20 des Greifers 3 schwenkbar gelagert sind. Der in Umlaufrichtung des Transportrads 1 vorlaufende Schenkel 19 ist dabei aus starrem Material gefertigt, während der entsprechend nachlaufende Schenkel 20 federnd ausgebildet ist, um so die Aufnahme verschieden dicker Erzeugnisse 9 ohne wesentliche Änderungen in der Ansteuerung der Greifer 3 zu ermöglichen.Fig. 5 shows a side view of a usable according to the invention Gripper 3. This gripper 3 has a base or carrier unit 5, which is firmly coupled to the transport wheel 1, which is only shown in certain areas. At the radially outer end of the base and support unit 5, one is perpendicular axis 18 extending to the direction of rotation of the transport wheel 1 is provided, pivotally mounted about the two legs 19, 20 of the gripper 3 are. The leg 19 leading in the direction of rotation of the transport wheel 1 is made of rigid material, while the corresponding trailing Leg 20 is resilient, so that the recording different thicker products 9 without significant changes in control to enable the gripper 3.

Beide Schenkel 19, 20 weisen an ihrem radial inneren Ende jeweils eine Führungsrolle 21, 22 auf, die zumindest im Aufnahme- und Übergabebereich des Transportrads 1 entlang nicht dargestellter Führungskulissen laufen und somit die jeweils gewünschten Öffnungs- bzw. Schließbewegungen des Greifers 3 bewirken.Both legs 19, 20 each have one at their radially inner end Guide roller 21, 22, at least in the receiving and transfer area of the transport wheel 1 along guide tracks, not shown run and thus the desired opening and closing movements of the gripper 3 effect.

Links und rechts des Greifers 3 ist in Fig. 5 jeweils eine Basis- bzw. Trägereinheit 4 für jeweils ein Saugorgan 2 angedeutet. Ebenso ist in Fig. 5 der Verlauf des Bändchenförderers 13 (siehe Fig. 1) zu erkennen.To the left and right of the gripper 3 is a base or carrier unit in FIG. 5 4 indicated for one suction element 2 each. 5 is the same The course of the ribbon conveyor 13 (see Fig. 1) can be seen.

Fig. 6 zeigt eine Frontalansicht eines als Greiferpaar ausgebildeten Greifers 3. Der Greifer 3 besteht dementsprechend aus zwei nebeneinander angeordneten Greiferelementen 23, wobei jedes Greiferelement 23 jeweils zwei Schenkel 19, 20 zum Greifen eines Erzeugnisses 9 besitzt. Die in Umlaufrichtung des gemäß Fig. 6 doppelwandig ausgebildeten Transportrades 1 vorlaufenden Schenkel der beiden Greiferelemente 23 sind fest miteinander gekoppelt, wobei ihre Bewegung von der gemeinsamen Führungsrolle 22 ausgelöst wird, die im Aufnahme- und Übergabebereich des Transportrades 1 entlang einer nicht dargestellten Führungskulisse verläuft. Entsprechendes gilt für die beiden in Umlaufrichtung des Transportrades 1 nachlaufenden Schenkel 20 der Greiferelemente 23, die ebenfalls starr gekoppelt sind und von der Führungsrolle 21 beaufschlagt werden. 6 shows a front view of a gripper designed as a pair of grippers 3. The gripper 3 accordingly consists of two side by side arranged gripper elements 23, each gripper element 23 each has two legs 19, 20 for gripping a product 9. In the Direction of rotation of the double-walled transport wheel according to FIG. 6 1 leading leg of the two gripper elements 23 are fixed coupled with each other, their movement from the common leadership role 22 is triggered, which is in the receiving and transfer area of the Transport wheels 1 runs along a guide link, not shown. The same applies to the two in the direction of rotation of the transport wheel 1 trailing leg 20 of the gripper elements 23, the are also rigidly coupled and acted upon by the guide roller 21 become.

In Fig. 6 ist gut zu erkennen, daß der Saugkopf 6 eines Saugorgans 2 mittig zwischen den beiden Greiferelementen 23 angeordnet ist, so daß der Saugkopf 6 ein Erzeugnis 9 problemlos definiert und kontrolliert in den Bereich der geöffneten Greiferschenkel bewegen kann, ohne daß Saugkopf 6 und Greiferelemente 23 miteinander kollidieren.6 that the suction head 6 of a suction element 2 is arranged centrally between the two gripper elements 23, so that the suction head 6 easily defines and controls a product 9 can move the area of the open gripper legs without Collide suction head 6 and gripper elements 23.

Schließlich ist in Fig. 6 gezeigt, daß der Bändchenförderer 13 gemäß Fig. 1 in dieser Ausführungsform als Bändchenpaar ausgebildet werden kann, wodurch erreicht wird, daß ein Abheben des Erzeugnisses 9 aus beiden Greiferelementen 23 problemlos erfolgen kann.Finally, it is shown in FIG. 6 that the ribbon conveyor 13 according to FIG. 1 can be formed as a pair of ribbons in this embodiment, whereby it is achieved that a lifting of the product 9 from both Gripper elements 23 can be done easily.

Fig. 7 zeigt schematisch, daß alternativ zu der Ausführungsform gemäß Fig. 6 auch lediglich ein Einzelgreifer 25 zum Einsatz gelangen kann, welcher zwei Greiferschenkel 26 und 27 aufweist, zwischen welchen ein Erzeugnis 9 gehalten wird. In diesem Fall ist es von Vorteil, wenn links und rechts neben dem Einzelgreifer 25 jeweils ein Saugorgan 28 angeordnet wird, die die für den Aufnahme- und Übergabeprozeß nötigen Schwenkbewegungen parallel und synchron zueinander ausführen. Bevorzugt ist es dabei, wenn beide Saugorgane 28 mechanisch starr miteinander gekoppelt werden. Ebenso wie die Bewegungen der Saugorgane 28 erfolgt die Ansteuerung der Saugfunktion bei beiden Saugorganen 28 in zeitlich synchroner Weise.Fig. 7 shows schematically that alternatively to the embodiment according to 6 only a single gripper 25 can be used, which has two gripper legs 26 and 27, between which a product 9 is held. In this case it is advantageous if left and a suction member 28 is arranged to the right of the individual gripper 25 is the necessary for the recording and transfer process pivoting movements Execute in parallel and synchronously with each other. Is preferred it occurs when both suction elements 28 are mechanically rigidly coupled to one another become. Just like the movements of the suction elements 28, this takes place Activation of the suction function in both suction elements 28 in a time-synchronous manner Wise.

Durch die Vorsehung von zwei Saugorganen 28 wird bei Verwendung eines Einzelgreifers 25 sichergestellt, daß ein Erzeugnis 9 zuverlässig in den Aufnahmebereich des Einzelgreifers 25 überführt werden kann. By the provision of two suction elements 28 when using one Single gripper 25 ensures that a product 9 reliably in the Recording area of the single gripper 25 can be transferred.

Die in Fig. 7 dargestellte Ausführungsform kann besonders vorteilhaft in einer Anordnung gemäß Fig. 3 mit an einem Transportrad 15 umlaufenden Saugorganen 2 und entlang eines Fördermittels 16 geförderten Greifern 3 eingesetzt werden.The embodiment shown in FIG. 7 can be particularly advantageous in an arrangement according to FIG. 3 with rotating on a transport wheel 15 Suction elements 2 and grippers conveyed along a conveying means 16 3 are used.

Claims (16)

Vorrichtung zum Ab- und/oder Weitertransportieren von flexiblen, flächigen Erzeugnissen, insbesondere Druckereierzeugnissen (9), mit einer Mehrzahl entlang einer Greifer-Förderstrecke bewegbaren, in Transportrichtung aufeinanderfolgenden Greifern (3) und einer Mehrzahl von entlang einer Saugorgan-Förderstrecke bewegbaren Saugorganen (2) zur in einem Aufnahme- und Übergabebereich erfolgenden Aufnahme jeweils eines Erzeugnisses (9) und zur Übergabe des aufgenommenen Erzeugnisses (9) an einen Greifer (3),
dadurch gekennzeichnet,
daß die Saugorgan-Förderstrecke im Aufnahme- und Übergabebereich entlang oder parallel zur Greifer-Förderstrecke verläuft.Device for removing and / or transporting flexible, flat products, in particular printed products (9), with a plurality of grippers (3) that can be moved along a gripper conveyor line, successive in the transport direction, and a plurality of suction elements (2) that can be moved along a suction element conveyor line ) for picking up one product (9) each in a pick-up and transfer area and for transferring the picked product (9) to a gripper (3),
characterized by
that the suction member conveyor line in the receiving and transfer area runs along or parallel to the gripper conveyor line. Vorrichtung nach Anspruch 1,
dadurch gekennzeichnet,
daß die Länge des entlang oder parallel zur Greifer-Förderstrecke verlaufenden Abschnitts der Saugorgan-Förderstrecke so bemessen ist, daß zumindest zwei aufeinanderfolgende Greifer (3) in diesem Abschnitt Platz finden.Device according to claim 1,
characterized by
that the length of the section of the suction member conveyor section running along or parallel to the gripper conveyor section is dimensioned such that there is space for at least two successive grippers (3) in this section. Vorrichtung nach Anspruch 1 oder 2,
dadurch gekennzeichnet,
daß die Greifer-Förderstrecke und die Saugorgan-Förderstrecke im Aufnahme - und Übergabebereich auf konzentrischen Kreisbahnen verlaufen. Device according to claim 1 or 2,
characterized by
that the gripper conveyor and the suction member conveyor run in the receiving and transfer area on concentric circular paths. Vorrichtung nach einem der vorhergehenden Ansprüche,
dadurch gekennzeichnet,
daß im Aufnahme- und Übergabebereich jeweils ein Greifer (3) und ein Saugorgan (2) einander zugeordnet sind.Device according to one of the preceding claims,
characterized by
that a gripper (3) and a suction member (2) are assigned to each other in the receiving and transfer area. Vorrichtung nach einem der vorhergehenden Ansprüche,
dadurch gekennzeichnet,
daß im Aufnahme- und Übergabebereich der Abstand zweier aufeinanderfolgender Greifer (3) dem Abstand zweier aufeinanderfolgender Saugorgane (2) entspricht.Device according to one of the preceding claims,
characterized by
that in the receiving and transfer area the distance between two successive grippers (3) corresponds to the distance between two successive suction members (2). Vorrichtung nach einem der vorhergehenden Ansprüche,
dadurch gekennzeichnet,
daß Saugorgan-Förderstrecke und Greifer-Förderstrecke im Aufnahme- und Übergabebereich in etwa mittig entlang, insbesondere mittig über den aufzunehmenden Erzeugnissen (9) verlaufen.Device according to one of the preceding claims,
characterized by
that the suction member conveying section and the gripper conveying section in the receiving and transfer area run approximately in the center, in particular in the center, above the products (9) to be picked up. Vorrichtung nach einem der vorhergehenden Ansprüche,
dadurch gekennzeichnet,
daß ein die Saugorgane (2) im Aufnahme- und Übergabebereich förderndes Saugorgan-Transportrad (1, 15) vorgesehen ist.Device according to one of the preceding claims,
characterized by
that a suction member transport wheel (1, 15) is provided which conveys the suction members (2) in the receiving and transfer area. Vorrichtung nach einem der vorhergehenden Ansprüche,
dadurch gekennzeichnet,
daß ein die Greifer (3) im Aufnahme- und Übergabebereich förderndes Greifer-Transportrad (1, 15) vorgesehen ist, wobei die Greifer (3) mit dem Greifer-Transportrad (1, 15) während des Transports lösbar oder unlösbar koppelbar sind.Device according to one of the preceding claims,
characterized by
that a gripper transport wheel (1, 15) which promotes the grippers (3) in the receiving and transfer area is provided, the grippers (3) being detachably or non-releasably coupled to the gripper transport wheel (1, 15) during transport. Vorrichtung nach Anspruch 8,
dadurch gekennzeichnet,
daß die Greifer-Förderstrecke durch ein abschnittsweise entlang des Transportrads (15) verlaufendes Fördermittel (16) mit daran angekoppelten Greifern (3) gebildet wird.Device according to claim 8,
characterized by
that the gripper conveyor line is formed by a conveyor means (16) running in sections along the transport wheel (15) with grippers (3) coupled to it. Vorrichtung nach den Ansprüchen 7 bis 9,
dadurch gekennzeichnet,
daß Saugorgan-Transportrad und Greifer-Transportrad als ein einziges, insbesondere doppelwandiges Transportrad (1, 15) zur Förderung sowohl der Saugorgane (2) als auch der Greifer (3) ausgebildet sind.Device according to claims 7 to 9,
characterized by
that suction member transport wheel and gripper transport wheel are designed as a single, in particular double-walled transport wheel (1, 15) for conveying both the suction members (2) and the gripper (3). Vorrichtung nach einem der vorhergehenden Ansprüche,
dadurch gekennzeichnet,
daß die Saugorgane (2) jeweils schwenkbar zwischen einer Aufnahme- und einer Übergabeposition am Saugorgan-Transportrad (1, 15) gehalten sind.Device according to one of the preceding claims,
characterized by
that the suction members (2) are each pivotally held between a receiving and a transfer position on the suction member transport wheel (1, 15). Vorrichtung nach einem der vorhergehenden Ansprüche,
dadurch gekennzeichnet,
daß die Saugorgane ein in deren Übergabeposition wirksames Führungsmittel (11) zum definierten Führen eines nicht mittels Saugwirkung gehaltenen Erzeugnisses (9) zwischen dem Führungsmittel (11) und einer Gegendruck-Vorrichtung (12) aufweisen. Device according to one of the preceding claims,
characterized by
that the suction members have an effective guide means (11) in their transfer position for the defined guidance of a product (9) not held by means of suction between the guide means (11) and a counter-pressure device (12). Vorrichtung nach Anspruch 12,
dadurch gekennzeichnet,
daß die Gegendruck-Vorrichtung als Andrückband (12) ausgebildet ist.Device according to claim 12,
characterized by
that the counter-pressure device is designed as a pressure belt (12). Vorrichtung nach einem der vorhergehenden Ansprüche,
dadurch gekennzeichnet,
daß jeder einem Saugorgan (2) zugeordneter Greifer (3) als Greiferpaar (23) ausgebildet ist, wobei das Saugorgan (2) im Aufnahme- und Übergabebereich zwischen den beiden Greifern des jeweils zugeordneten Greiferpaares (23) angeordnet ist.Device according to one of the preceding claims,
characterized by
that each gripper (3) assigned to a suction member (2) is designed as a pair of grippers (23), the suction member (2) being arranged in the receiving and transfer area between the two grippers of the respectively associated pair of grippers (23). Vorrichtung nach einem der Ansprüche 1 bis 13,
dadurch gekennzeichnet,
daß jedes einem Greifer (25) zugeordnete Saugorgan als Saugorgan-Paar (28) ausgebildet ist, wobei der Greifer (25) im Aufnahme- und Übergabebereich zwischen den beiden Saugorganen des jeweils zugeordneten Saugorgan-Paares (28) angeordnet ist.Device according to one of claims 1 to 13,
characterized by
that each suction member assigned to a gripper (25) is designed as a pair of suction members (28), the gripper (25) being arranged in the receiving and transfer area between the two suction members of the respectively associated pair of suction members (28). Vorrichtung nach einem der vorhergehenden Ansprüche,
dadurch gekennzeichnet,
daß die Greiferbewegungen, die Saugorganbewegungen sowie die Aktivierung der Saugorgane von Steuerkulissen und/oder Zahnriemengetrieben gesteuert sind.Device according to one of the preceding claims,
characterized by
that the gripper movements, the suction member movements and the activation of the suction members are controlled by control links and / or toothed belt drives.
EP00110601A 1999-05-28 2000-05-18 Device for picking up and/or transporting flexible and flat products Expired - Lifetime EP1055620B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DK00110601T DK1055620T3 (en) 1999-05-28 2000-05-18 Device for removing and / or forwarding flexible, flat items

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH99899 1999-05-28
CH99899 1999-05-28

Publications (2)

Publication Number Publication Date
EP1055620A1 true EP1055620A1 (en) 2000-11-29
EP1055620B1 EP1055620B1 (en) 2004-11-03

Family

ID=4200074

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Application Number Title Priority Date Filing Date
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US (1) US6554268B1 (en)
EP (1) EP1055620B1 (en)
JP (1) JP4921631B2 (en)
AT (1) ATE281389T1 (en)
AU (1) AU764208B2 (en)
CA (1) CA2309239C (en)
DE (1) DE50008473D1 (en)
DK (1) DK1055620T3 (en)
ES (1) ES2226648T3 (en)
RU (1) RU2260554C2 (en)

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WO2007051324A1 (en) * 2005-11-01 2007-05-10 Ferag Ag Method of, and apparatus for, transferring sheet-like products from a stack of products to a conveying belt
US7703760B2 (en) 2002-09-12 2010-04-27 Ferag Ag Method and a device for processing and separating an imbricate formation of flexible, flat objects
CH710449A1 (en) * 2014-12-08 2016-06-15 Ferag Ag Apparatus and method for conveying and transferring flat objects.

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JP2007161354A (en) * 2005-12-09 2007-06-28 Dainippon Printing Co Ltd Unpacking system and unpacking method
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CH699859A2 (en) * 2008-11-04 2010-05-14 Ferag Ag Device and method for promoting and deliver flat objects.
CH708427A1 (en) * 2013-08-12 2015-02-13 Ferag Ag Device and method for separating product components of a multi-part product.
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Also Published As

Publication number Publication date
JP4921631B2 (en) 2012-04-25
CA2309239C (en) 2007-07-17
EP1055620B1 (en) 2004-11-03
AU764208B2 (en) 2003-08-14
ES2226648T3 (en) 2005-04-01
ATE281389T1 (en) 2004-11-15
AU3634600A (en) 2000-11-30
US6554268B1 (en) 2003-04-29
JP2000335760A (en) 2000-12-05
RU2260554C2 (en) 2005-09-20
DK1055620T3 (en) 2004-12-06
DE50008473D1 (en) 2004-12-09
CA2309239A1 (en) 2000-11-28

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