EP1288151B1 - Procédé et dispositif pour la prise d'un produit plat en déplacement - Google Patents

Procédé et dispositif pour la prise d'un produit plat en déplacement Download PDF

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Publication number
EP1288151B1
EP1288151B1 EP02016269A EP02016269A EP1288151B1 EP 1288151 B1 EP1288151 B1 EP 1288151B1 EP 02016269 A EP02016269 A EP 02016269A EP 02016269 A EP02016269 A EP 02016269A EP 1288151 B1 EP1288151 B1 EP 1288151B1
Authority
EP
European Patent Office
Prior art keywords
gripper
product
arm
support
speed
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP02016269A
Other languages
German (de)
English (en)
Other versions
EP1288151A3 (fr
EP1288151A2 (fr
Inventor
Kevin Lauren Cote
Daniel Richard Curley
Joseph Adrian St Ours
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Goss International Americas LLC
Original Assignee
Goss International Americas LLC
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 Goss International Americas LLC filed Critical Goss International Americas LLC
Publication of EP1288151A2 publication Critical patent/EP1288151A2/fr
Publication of EP1288151A3 publication Critical patent/EP1288151A3/fr
Application granted granted Critical
Publication of EP1288151B1 publication Critical patent/EP1288151B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H5/00—Feeding articles separated from piles; Feeding articles to machines
    • B65H5/08—Feeding articles separated from piles; Feeding articles to machines by grippers, e.g. suction grippers
    • B65H5/14—Details of grippers; Actuating-mechanisms therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H29/00—Delivering or advancing articles from machines; Advancing articles to or into piles
    • B65H29/02—Delivering or advancing articles from machines; Advancing articles to or into piles by mechanical grippers engaging the leading edge only of the articles
    • B65H29/06—Delivering or advancing articles from machines; Advancing articles to or into piles by mechanical grippers engaging the leading edge only of the articles the grippers being carried by rotating members
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2405/00—Parts for holding the handled material
    • B65H2405/50—Gripping means
    • B65H2405/53—Rotary gripping arms
    • B65H2405/531—Rotary gripping arms with relative movement of the arms relatively to the axis of rotation during rotation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2513/00—Dynamic entities; Timing aspects
    • B65H2513/10—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/10—Handled articles or webs
    • B65H2701/13—Parts concerned of the handled material
    • B65H2701/131—Edges
    • B65H2701/1311—Edges leading edge

Definitions

  • the present invention relates to a method for gripping a moving flat product according to claim 1 and to a device for gripping a moving flat product according to claim 7.
  • the US 4,629,175 discloses an apparatus for overcoming these problems.
  • the apparatus includes rows of grippers that rotate between a feeder and a subsequent lay-out system.
  • the grippers are located on a cylindrical drum which rotates at a constant speed, and the gripper rows are accelerated by a drive to the speed of the feeder and then braked to the speed of the delivery system.
  • the grippers are rotated to a position in front of a leading edge of the signature supplied from the feeder. This occurs because the speed of the signature on the feeder must be greater than a tangential velocity of the gripper.
  • the signature moves faster than the gripper when it enters the gripper and closes around it.
  • the front edge of the signature is braked immediately to the speed of the gripper, while the trailing edge is still in the control of the feeder and therefore moves at a higher speed than the leading edge. Due to these different speeds there is a risk that the signature will be damaged.
  • a brake drum for braking signatures transported in a folder.
  • the drum includes a plurality of pivotal arms connected to a rotating hub and capable of independent rotation.
  • Each pivot arm is connected to a control lever whose other side is connected to a rotating control disc.
  • the rotating control disc enables acceleration and deceleration of a signature.
  • An arranged on the pivot arm gripper detects the signature when it enters the brake drum.
  • the system is preferably timed so that the leading edge of the incoming signature is detected by the rapier head before the trailing edge of the signature is released by a conveyor system. Again, the signature is transferred to the gripper at high speed and detected by this, while it is still held by the conveyor system. Therefore, the signature may be damaged at the time of transfer.
  • the method according to the invention can provide that the gripper is moved to a position in front of the front edge of the product and / or above the level of the product, wherein the gripper support is positioned below the level of the product.
  • Aligning the gripper pad with the leading edge of the product and adjusting the speed of the gripper pad to the product speed preferably occurs prior to release of the leading edge of the product by a transport system.
  • a gripper arm is moved in the direction of the swivel arm in such a way that the gripper is above the front edge of the product or the signature before the gripper is moved in the direction of the gripper support.
  • the gripper arrangement preferably moves in the same direction as the signature.
  • the signature can now be picked up by a transport system, i. be released from this and braked after acceptance by the transport system.
  • the gripper assembly is preferably moved and moved further by rotating the gripper assembly about a pivot point.
  • the gripper assembly may include a rod connected to the gripper arm and a rod guiding and controlling Cam, wherein the rod controls the movement of the gripper in the direction of the gripper support and rotates the gripper arm in the direction of the pivot arm.
  • the gripper pad is aligned with the signature before the leading edge of the signature leaves the control by the transport system.
  • the signature between the gripper and the gripper support is detected in such a way that the speed of the signature is not changed during the grasp of the signature between the gripper and the gripper support.
  • the signature is recorded between the gripper and the gripper support in such a way that the signature, the gripper and the gripper support move in the same direction.
  • the gripper assembly performs at least one rotational movement, in particular a superimposed by a pivoting movement of rotation.
  • a device for gripping a moving flat product, in particular a signature in a folder of a web-fed rotary printing press, with a pivoting gripper assembly, wherein the product moving at a product speed is detected by a gripper support cooperating gripper of the gripper assembly includes a gripper-carrying and on the gripper assembly at least pivotally arranged gripper arm which is moved by means of a cam follower such that the gripper is moved to the aligned with the front edge of the product and adapted to the product speed of the product gripper pad.
  • the rod is arranged on the second link rod.
  • the first link rod may have a cylindrical portion about which the gripper arm is rotatable. This allows the gripper arm to approach the swivel arm under the influence of the cam.
  • the pivot arm preferably has bores
  • the first pivot rod preferably has pins which are rotatable in the bores of the pivot arm.
  • a channel for receiving the rod may be formed in the pivoting arm.
  • the contour is preferably formed irregular sinuskurvenförmig.
  • the second link rod has a pin and that the rod has a bore for receiving the pin of the second link rod, wherein the rod is rotatable about the pin.
  • Fig. 1 shows a gripper assembly 31 with a pivot arm 1, which rotates in the direction indicated by the arrow 17 about a pivot point 7.
  • a gripper arm 8 is at one arranged upper pivot rod 16 and partially pivotable about a pivot point 9.
  • the upper link rod 16 is in turn pivotally mounted on the pivot arm 1 about a pivot point 10.
  • the gripper arm 8 is also connected via a arranged on the gripper arm 8 rod 21 in a pivot point 4 with a lower link rod 6.
  • the rod 21 is pivotable about a pin 4 'projecting out of the articulated rod 6.
  • the lower joint rod 6 is in turn arranged in a pivot point 3 on the pivot arm 1 and pivotable about a protruding from the pivot arm 1 pin 3 'in the pivot point 3.
  • a gripper 15 is attached at one end of the gripper arm 8.
  • a gripper pad 18 is attached to the pivot arm 1.
  • a cam roller 5 is disposed on the lower link 6 and supported around a pivot point 2 around. The position of the cam roller 5 determines the position of the gripper arm 8 and thus also the position of the gripper 15 relative to the pivot arm. 1
  • the gripper 15 is located in Fig. 1 immediately below a region 13 between a trailing edge of a signature 14 and a leading edge of the next signature 12.
  • the signatures 12, 14 are transported in the direction indicated by the arrow 11 direction.
  • the position of the swing arm 1 is controlled by the rotation of the swing arm 1 about the pivot point 7.
  • the signatures 12, 14 are conveyed on a belt system 20 and transferred to the gripper assembly 31.
  • FIG. 3 shows the further sequence until the swivel arm 1 has rotated so far that the gripper seat 18 is aligned directly with the front edge of the signature 12.
  • the signature 12 and the gripper pad 18 move in the same direction 11 and at the same speed.
  • the gripper 15 has begun to close.
  • the swing arm 1 moves at the same speed as the signature 12, while the gripper 15 completely closes around the signature 12 by being gripped against the gripper pad 18. In this way, the signature 12 is removed from the belt system 20 and further transported. It should be noted that no abrupt change in the speed of the gripper 15 is made after the signature 12 has been detected. The signature 12 is obtained without the undesirable side effects known in the art, such as e.g. abrupt deceleration or acceleration, d. H. Speed changes, further transported. In addition, the gripper 15 does not abut the edge of the signature to detect this in its return movement. This reduces the risk of damaging the signature 12.
  • FIG. 1-4 are shown in a highly schematic.
  • Figs. 5-8 show further details of the invention.
  • Fig. 5 shows a perspective view of the gripper assembly 31, in which the gripper arm 8 is shown with a plurality of grippers 15.
  • the swing arm 1 carries a plurality of gripper pads 18.
  • the upper link rod 16 has a pin 22 which rotates in a disposed in the pivot arm 1 bore 26 and defines the pivot point 10.
  • the upper link 16 also includes a cylindrical portion 23 about which the gripper arm 8 rotates and defines the pivot point 9.
  • the gripper arm 8 is rotatable about the pivot point 9 and vertically movable, since there is a gap between the underside of the upper link rod 16 and the gripper arm 8.
  • the cam roller 5 rolls on a cam 24 with a contour or curved path 25.
  • the rod 21 of the gripper arm 8 follows the contour 25 of the cam 24. Due to the change in height and direction of the contour 25 moves Gripper arm 8 up and down and at an angle to the swing arm 1 to or from this way. By the upward and downward movement of the gripper 15 is moved to the gripper pad 18 and away from it. As a result of the oblique or rotary movement, the gripper arm 8 is moved toward or away from the swivel arm 1.
  • the pivot arm 1 further comprises a channel 27, in which the rod 21 of the gripper arm 8 is guided.
  • Fig. 6 is a perspective view of a device 30 for transferring signatures at a suitable speed.
  • the device 30 comprises a plurality of gripper assemblies 31, each comprising the pivoting arm 1 and the gripper arm 8.
  • the device 30 has a first drive wheel or pulley 32, a second drive pulley 33, and a third drive pulley or third pulley 34.
  • For driving the drive wheels 32-34 e.g. Drive belt be provided.
  • the device 30 for transferring signatures with adapted speed shown in FIG. 6 serves here as a brake drum or deceleration drum / unit; however, it can also be used as an acceleration drum.
  • the drive wheel 32 drives a shaft 35, which in turn drives the gripper assemblies 31 about the pivot points 7.
  • the drive wheels 33, 34 each drive six of the gripper assemblies 31.
  • the drive wheels 33, 34 drive an upper portion 38 of a connection 36, which in turn drives a shaft 37 (see also Figures 1 and 5), by means of which the speed of the gripper assemblies 31 can be further changed.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Feeding Of Articles By Means Other Than Belts Or Rollers (AREA)
  • Separation, Sorting, Adjustment, Or Bending Of Sheets To Be Conveyed (AREA)
  • Discharge By Other Means (AREA)
  • Load-Engaging Elements For Cranes (AREA)
  • Manipulator (AREA)

Claims (9)

  1. Procédé de préhension d'un produit plat en mouvement (12), notamment d'une signature (12) dans un appareil de pliage d'une presse rotative à imprimer, au moyen d'une disposition de griffes (31) pivotante, le produit (12) en mouvement à une vitesse de produit étant saisi par une griffe (15) de la disposition de griffes (31) coagissant avec un support de griffes (18) fixé sur un bras pivotant (1), laquelle griffe est fixée au niveau de l'extrémité d'un bras de griffes (8), comprenant les étapes de procédé :
    - d'alignement du support de griffes (18) avec le bord avant du produit (12) ;
    - d'adaptation de la vitesse du support de griffes (18) à la vitesse du produit de telle sorte que le produit et le support de griffes (18) se déplacent dans la même direction et à la même vitesse ;
    - de rotation ainsi que descente du bras de griffes (8) par rapport au bras pivotant (1) afin de fermer la griffe (15) de telle sorte que le bras de griffes (8) soit déplacé par le mouvement de rotation vers le bras pivotant et que la griffe (15) soit déplacée par la descente vers le support de griffes (18), et le support de griffes étant déplacé pendant la fermeture complète de la griffe (15) autour du produit (12) à ladite vitesse de produit.
  2. Procédé selon la revendication 1, comprenant l'étape de procédé :
    de déplacement de la griffe (15) dans une position devant le bord avant du produit (12) et/ou au dessus du plan du produit (12), le support de griffes (18) étant positionné au-dessous du plan du produit (12).
  3. Procédé selon la revendication 1 ou 2, l'alignement du support de griffes (18) avec le bord avant du produit (12) et l'adaptation de la vitesse du support de griffes (18) à la vitesse de produit étant effectués avant une libération du bord avant du produit (12) par un système de transport (20).
  4. Procédé selon l'une quelconque des revendications précédentes, le produit (12, 14) étant saisi entre la griffe (15) et le support de griffes (18) de telle manière que le produit (12, 14), la griffe (15) et le support de griffes (18) se déplacent dans la même direction.
  5. Procédé selon l'une quelconque des revendications précédentes, la disposition de griffes (31) réalisant au moins un mouvement de rotation, notamment un mouvement de rotation recouvert par un mouvement pivotant.
  6. Procédé selon l'une quelconque des revendications précédentes 3 à 5, le produit (12, 14) étant freiné après la libération par le système de transport (20).
  7. Dispositif de préhension d'un produit plat en mouvement (12), notamment d'une signature (12) dans un appareil de pliage d'une presse rotative à imprimer, avec une disposition de griffes (31) pivotante, le produit (12) en mouvement à une vitesse de produit pouvant être saisi par une griffe (15) de la disposition de griffes (31) coagissant avec un support de griffes (18), avec un bras de griffes (8) portant la griffe (15) et disposé de manière pivotante sur la disposition de griffes (31), le bras de griffes (8) pouvant être déplacé en haut et en bas par rapport au bras pivotant (1), et le bras de griffes (8) pouvant être déplacé au moyen d'un suiveur de came de telle sorte que la griffe (15) soit déplacée vers le support de griffes (18) aligné avec le bord avant du produit (12) et se déplaçant à la même vitesse que le produit (12) et
    - un bras pivotant (1) présentant le support de griffes (18), grâce auquel le support de griffes (18) peut être déplacé de telle manière que le support de griffes (18) soit aligné avec le bord avant du produit (12, 14) et se déplace à la même vitesse que le produit (12, 14),
    - au moins une tige (21) que présente le bras de griffes (8),
    - une première bielle articulée (16) logée sur le bras pivotant (1) autour d'un point de pivotement (10), autour duquel le bras de griffes (8) peut être tourné au moins partiellement au moyen d'un second point de pivotement (9),
    - une seconde bielle articulée (6) logé sur le bras pivotant (1), logeant la tige (21) du bras de griffes (8),
    - et un disque à came (24) avec un contour (25), sur lequel un rouleau de guidage (5) peut être déroulé,
    L'action conjointe du disque à came (24) et du rouleau de guidage (5) provoquant un mouvement de la tige (21) de telle manière que la griffe (15) se déplace dans la direction du support de griffes (18) de sorte que le produit (12, 14) soit saisi entre la griffe (15) et le support de griffes (18) sans que la vitesse du produit (12, 14) ne se modifie.
  8. Dispositif selon la revendication 7, la griffe (15) se trouvant au-dessus du bord avant du produit (12) avant que la griffe (15) ne soit déplacée vers le support de griffes (18).
  9. Presse à imprimer ou appareil de pliage ou tambour de ralentissement, avec plusieurs dispositifs selon l'une quelconque des revendications 7 ou 8 destinés à saisir des produits imprimés plats en mouvement en série.
EP02016269A 2001-08-28 2002-07-23 Procédé et dispositif pour la prise d'un produit plat en déplacement Expired - Lifetime EP1288151B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US941956 2001-08-28
US09/941,956 US6511065B1 (en) 2001-08-28 2001-08-28 Method for transferring signatures and gripper assembly for a matched velocity transfer device

Publications (3)

Publication Number Publication Date
EP1288151A2 EP1288151A2 (fr) 2003-03-05
EP1288151A3 EP1288151A3 (fr) 2003-08-13
EP1288151B1 true EP1288151B1 (fr) 2007-09-26

Family

ID=25477354

Family Applications (1)

Application Number Title Priority Date Filing Date
EP02016269A Expired - Lifetime EP1288151B1 (fr) 2001-08-28 2002-07-23 Procédé et dispositif pour la prise d'un produit plat en déplacement

Country Status (5)

Country Link
US (2) US6511065B1 (fr)
EP (1) EP1288151B1 (fr)
JP (1) JP4072025B2 (fr)
AT (1) ATE374157T1 (fr)
DE (2) DE50210962D1 (fr)

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US7243003B2 (en) * 2002-08-31 2007-07-10 Applied Materials, Inc. Substrate carrier handler that unloads substrate carriers directly from a moving conveyor
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US7077264B2 (en) * 2003-01-27 2006-07-18 Applied Material, Inc. Methods and apparatus for transporting substrate carriers
US7578647B2 (en) * 2003-01-27 2009-08-25 Applied Materials, Inc. Load port configurations for small lot size substrate carriers
US20090308030A1 (en) * 2003-01-27 2009-12-17 Applied Materials, Inc. Load port configurations for small lot size substrate carriers
US7611318B2 (en) * 2003-01-27 2009-11-03 Applied Materials, Inc. Overhead transfer flange and support for suspending a substrate carrier
DE10303347B4 (de) * 2003-01-29 2010-04-29 Eads Deutschland Gmbh Verfahren und Schaltung zur Wandlung eines analogen Istsignals in ein digitales Sollsignal
DE10311857B3 (de) * 2003-03-17 2004-08-05 Nexpress Solutions Llc Vorrichtung zum Transport eines im wesentlichen bogenförmigen Elementes, insbesondere eines Bedruckstoffbogens
DE10311858B3 (de) * 2003-03-17 2004-08-19 Nexpress Solutions Llc Vorrichtung zum Transport eines im wesentlichen bogenförmigen Elementes, insbesondere eines Bedruckstoffbogens
DE10311859B3 (de) * 2003-03-17 2004-08-19 Nexpress Solutions Llc Vorrichtung zum Transport eines im wesentlichen bogenförmigen Elementes, insbesondere eines Bedruckstoffbogens
US7748517B2 (en) * 2004-02-04 2010-07-06 Goss International Americas, Inc. Signature transport device
DE102004030254B3 (de) * 2004-06-23 2005-09-22 Pitney Bowes Deutschland Gmbh Rotationsanleger zum Fördern von Beilagen
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CH699596A1 (de) * 2008-09-25 2010-03-31 Ferag Ag Vorrichtung und verfahren zur bearbeitung von gegenständen.
CN101683270B (zh) * 2008-09-26 2012-07-11 深圳迈瑞生物医疗电子股份有限公司 匀速翻转机构及其控制方法
CH699859A2 (de) * 2008-11-04 2010-05-14 Ferag Ag Vorrichtung und verfahren zum fördern und abgeben von flachen gegenständen.
US8376356B2 (en) * 2009-09-21 2013-02-19 Goss International Americas, Inc. Infinitely variable format signature collection apparatus and method of collecting signatures
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Also Published As

Publication number Publication date
US6511065B1 (en) 2003-01-28
EP1288151A3 (fr) 2003-08-13
ATE374157T1 (de) 2007-10-15
DE10233505A1 (de) 2003-04-17
JP2003104584A (ja) 2003-04-09
DE50210962D1 (de) 2007-11-08
US6547297B2 (en) 2003-04-15
EP1288151A2 (fr) 2003-03-05
US20030042747A1 (en) 2003-03-06
JP4072025B2 (ja) 2008-04-02

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