EP1364899A1 - Method for transporting flat and flexible products, and device for carrying out the method - Google Patents

Method for transporting flat and flexible products, and device for carrying out the method Download PDF

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Publication number
EP1364899A1
EP1364899A1 EP03003301A EP03003301A EP1364899A1 EP 1364899 A1 EP1364899 A1 EP 1364899A1 EP 03003301 A EP03003301 A EP 03003301A EP 03003301 A EP03003301 A EP 03003301A EP 1364899 A1 EP1364899 A1 EP 1364899A1
Authority
EP
European Patent Office
Prior art keywords
transfer area
products
edge
movement path
grippers
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
EP03003301A
Other languages
German (de)
French (fr)
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EP1364899B1 (en
Inventor
Werner Honeger
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
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Ferag AG
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Filing date
Publication date
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Publication of EP1364899A1 publication Critical patent/EP1364899A1/en
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Publication of EP1364899B1 publication Critical patent/EP1364899B1/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • 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
    • B65H29/00—Delivering or advancing articles from machines; Advancing articles to or into piles
    • B65H29/003—Delivering or advancing articles from machines; Advancing articles to or into piles by 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
    • B65H2301/42—Piling, depiling, handling piles
    • B65H2301/422—Handling piles, sets or stacks of articles
    • B65H2301/4224—Gripping piles, sets or stacks of articles
    • B65H2301/42242—Gripping piles, sets or stacks of articles by acting on the outermost articles of the pile for clamping the pile
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • 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
    • B65H2301/4471—Grippers, e.g. moved in paths enclosing an area
    • B65H2301/44712—Grippers, e.g. moved in paths enclosing an area carried by chains or bands
    • 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

Definitions

  • the invention relates to a method for conveying flat, flexible products, in particular printed products, according to the preamble of claim 1 and one Device for performing the method according to the Preamble of claim 6.
  • a method and a device of the aforementioned Kind are known from EP-A 1 193 201.
  • a belt conveyor on the gripper conveyor the products overlap at least partially, i.e. in a scale formation.
  • grippers of the gripper conveyor are designed that they are individually controlled for opening and closing can be used to position the products at a specified point Let go of the handover to the belt conveyor. Since the Orientation of the gripper and thus the gripped one Product relative to the trajectory before delivery is changed and the gripper along a strong curved path of movement moves, it does not move gripped edge of the product with significantly higher Path speed as the gripped edge or the Gripper itself. Furthermore, the product has one relatively large speed component in vertical direction, i.e. towards the conveyor belt.
  • the edge not gripped is therefore when laying down on the Conveyor belt exposed to high braking forces Thereby the controlled depositing of a product and its gentle treatment difficult.
  • the actual transfer area should not be curved, but the products in one parallel to the belt conveyor to pass passing transfer area.
  • the conveyor is designed in such a way that the Gripper in the transfer area along a parallel to the Belt conveyor moving movement path are moved.
  • the gripper only opens in this straight section, to drop a product. This can reduce the quality of the Scale flow can be improved.
  • the disadvantage is that the conveyor in the conveying direction of the belt conveyor must have a certain minimum extent and therefore can not be realized to save space.
  • the invention is therefore based on the object Method and device for conveying flat, to provide flexible products in which in which the disadvantages mentioned are avoided and the Products with a small footprint in a gentle way the conveyor belt of a belt conveyor can be put down.
  • the gripper in one method or one Device of the type mentioned the movement path the gripper is curved in the transfer area and approaches in vertical direction on the conveyor belt. in principle can be a transfer area with little Space required in the conveying direction of the belt conveyor become.
  • the trajectory can change with respect to the belt conveyor Approach the conveyor belt from above or below. in the latter case, the trajectory crosses the plane of the Belt conveyor coming from below and is for example in an arc around the beginning of the belt conveyor. The product is ultimately also from above on the Tape discarded.
  • the enclosed by the trajectory in the case of the surface facing away from the belt conveyor Approach from above convex or in the case of approach concave from below.
  • the products from the conveyor promoted in a hanging position is understood to mean that the products are largely vertical are aligned, due to gravity can also be slightly curved.
  • the products conveyed in a hanging position are according to the invention in the transfer area before placing on the Conveyor belt moves in such a way that the one not seized Edge of the product with the same or less Path speed like the gripped edge or the The gripper itself moves.
  • the corresponding movement can especially in the case of approaching the level from below of the belt conveyor, solely by suitable shape of the Trajectory can be realized. In this case it is Alignment of the grippers relative to the movement path is not necessarily changeable. However, it is preferred that bring the grippers closer to the conveyor belt from above. In this In this case, the gripper mouths first take an orientation in their direction of rotation to then in the transfer area in an orientation against the conveying direction of the To pivot the belt conveyor.
  • the grippers are preferably like this at all times aligned that the product remains largely flat or is only slightly curved.
  • the grippers preferably moved such that the belt conveyor facing gripper jaw when depositing the product in the essentially parallel to the level of the stored products is aligned.
  • Figure 1 shows an inventive device with a designed as a gripper conveyor 1 and a belt conveyor 2 for conveying away in a Scale formation of deposited products 6 in the conveying direction F.
  • Figure 2 shows the same device in which the grippers 3 of the conveyor 1 three each congruent hold stacked products 6 and at the same time handed over to the belt conveyor 2. This creates one Scale formation consisting of mini layers of each three products.
  • a section of the transfer area 10 from Figure 1 in different snapshots show Figure 3a-c.
  • the conveyor 1 comprises a plurality along a movement path U moved grippers 3.
  • the grippers 3 have two gripper jaws 4, 5 which are perpendicular to one Swiveling axis for opening and Closing are pivotable relative to each other.
  • the individually opening the gripper 3 is not with one here shown backdrop control accomplished. Open becomes a gripper at the point of closest approach 10 'of the movement path U to the belt conveyor 2.
  • the grippers 3 and the two gripper jaws 4, 5 are also around an axis running perpendicular to the plane of the drawing can be pivoted.
  • the orientation of the grippers 3 and in particular the direction A of the gripper mouth relative to Movement path U or relative to the gripper body 3a individually depending on the position of the grippers 3 within the trajectory U are changed. Examples for suitable grippers are described in EP-A 0 600 183.
  • the pivoting movement relative to the movement path or the gripper body 3a is not by means of one here illustrated backdrop control realized.
  • the movement path U comprises two vertically running sections U1, U2, between which the curved transfer area 10 is located.
  • the semicircular area of the Trajectory U are called.
  • the grippers 3 are oriented so that you limited gripper jaw by the two gripper jaws 4, 5 points in a direction A, which is about 45 ° from the Vertical is inclined.
  • These bend due to the Gravity down so it's over a big one Part of its length is essentially vertical take in. Since the first section U1 is straight, the undetected edges 6b of the products move 6 at about the same web speed as that gripped edges 6a.
  • the curved transfer area changed the gripper orientation according to the invention such that the undetected edge 6b continues with the same or preferably a lower web speed like that gripped edge 6a of the product is promoted.
  • the Curvature of the transfer area 10 is therefore caused by the Change in the orientation of the gripper 3 compensated.
  • the Conveyor 1 can therefore have a strong curvature very in the transfer area and therefore in the direction of conveyance space-saving. For example, it is like this curved that in the transfer area 10 3 to 5 grippers find space next to each other.
  • the product 6 is put down from a hanging position, in which the undetected edge 6b in the direction of movement along the movement path U in front of the gripped edge is placed in a lying position in which edge 6b that has not been gripped in the direction of movement along the movement path U or in the conveying direction F of the Belt conveyor 2 is located behind the gripped edge 6a.
  • the orientation assumed in the transfer area 10 is relative to the trajectory U keep the grippers 3 even after Opening in the second, which runs vertically upwards Section U2 of the trajectory U at. A change alignment needs only before or after shooting of a new product on a not shown here Takeover point.
  • FIG. 1 shows, the end that has not been grasped is approaching 6b of a product first by the conveyor belt 2a defined level. It is beneficial if, like here shown, the conveyor belt is arranged so that the End 6b not seized the level of the conveyor belt 2a can cross, preferably in which the beginning 2b of the Belt conveyor 2 is in the transfer area 10.
  • present indicates the conveyor belt 2a at its beginning 2b
  • Support element 7 in the form of an obliquely bent downward Guide element on which the end not gripped 6b comes to rest when lowering and from which it comes in Further funding is withdrawn.
  • the support element 7 has the advantage that the free end 6b is preferred Direction is given. It prevents the end 6b is already conveyed away with the conveyor belt 2a before the gripped end 6a of the product 6 is placed thereon becomes.
  • the grippers 3 are so in space that moves the seized product until it is put down is largely straight or only slightly curved. It is therefore also an advantage if the belt conveyor 2 facing gripper jaw 4 when placing the product 6 in essentially parallel to the level of the stored products 6 is aligned.
  • the grippers 3 of the conveyor 1 from FIG. 2 are as already described, moved. The fact that they grab and hand over three products 6 each, has none Influence on the sequence of movements.

Abstract

The method of conveying printed products (6) uses a feed path (U) and grippers (3) with at least two jaws (4,5). The grippers move the products to a transfer area (10) for a horizontal feed section of a conveyor belt. The movement path is curved in the transfer area and extends vertically in the transfer area. The grippers feed the products with a lower speed at the free edge than the gripped edge. Claims include a machine for conveying the articles.

Description

Die Erfindung betrifft ein Verfahren zum Fördern von flächigen, flexiblen Produkten, insbesondere Druckereiprodukten, nach dem Oberbegriff von Anspruch 1 sowie eine Vorrichtung zur Durchführung des Verfahrens nach dem Oberbegriff von Anspruch 6.The invention relates to a method for conveying flat, flexible products, in particular printed products, according to the preamble of claim 1 and one Device for performing the method according to the Preamble of claim 6.

Ein Verfahren und eine Vorrichtung der eingangs genannten Art sind aus der EP-A 1 193 201 bekannt. Hierbei werden Produkte mit einem Greiferförderer aus dem vorhergehenden Prozess übernommen und entlang einer kreisförmigen geschlossenen Bewegungsbahn bewegt. Unterhalb des Greiferförderers befindet sich ein Bandförderer, auf den die Produkte einander wenigstens teilweise überlappend, d.h. in einer Schuppenformation, abgelegt werden. Die Greifer des Greiferförderers sind dazu so ausgebildet, dass sie zum Öffnen und Schliessen einzeln angesteuert werden können, um die Produkte an vorgegebener Stelle zur Übergabe an den Bandförderer loszulassen. Da die Orientierung der Greifer und damit des ergriffenen Produkts relativ zur Bewegungsbahn vor der Übergabe nicht verändert wird und sich der Greifer entlang einer stark gekrümmten Bewegungsbahn bewegt, bewegt sich die nicht ergriffene Kante des Produkts mit deutlich höherer Bahngeschwindigkeit als die ergriffene Kante bzw. der Greifer selbst. Des weiteren hat das Produkt eine verhältnismässig grosse Geschwindigkeitskomponente in vertikaler Richtung, d.h. in Richtung auf das Förderband. A method and a device of the aforementioned Kind are known from EP-A 1 193 201. Here are Products with a gripper conveyor from the previous one Process taken and along a circular closed trajectory moves. Below the There is a belt conveyor on the gripper conveyor the products overlap at least partially, i.e. in a scale formation. The For this purpose, grippers of the gripper conveyor are designed that they are individually controlled for opening and closing can be used to position the products at a specified point Let go of the handover to the belt conveyor. Since the Orientation of the gripper and thus the gripped one Product relative to the trajectory before delivery is changed and the gripper along a strong curved path of movement moves, it does not move gripped edge of the product with significantly higher Path speed as the gripped edge or the Gripper itself. Furthermore, the product has one relatively large speed component in vertical direction, i.e. towards the conveyor belt.

Die nicht ergriffene Kante ist daher beim Ablegen auf dem Förderband entsprechend hohen Bremskräften ausgesetzt Dadurch wird das kontrollierte Ablegen eines Produkts und dessen schonende Behandlung erschwert.The edge not gripped is therefore when laying down on the Conveyor belt exposed to high braking forces Thereby the controlled depositing of a product and its gentle treatment difficult.

Um dieses Problem etwas abzumildern, ist es bekannt, den eigentlichen Übergabebereich nicht gekrümmt auszuführen, sondern die Produkte in einem parallel zum Bandförderer verlaufenden Übergabebereich zu übergeben. Die Fördereinrichtung ist in diesem Fall so gestaltet, dass die Greifer im Übergabebereich entlang einer parallel zum Bandförderer verlaufenden Bewegungsbahn bewegt werden. Erst in diesem geraden Teilstück öffnet sich der Greifer, um ein Produkt abzulegen. Hierdurch kann die Qualität des Schuppenstroms verbessert werden. Nachteilig ist jedoch, dass die Fördereinrichtung in Förderrichtung des Bandförderers eine gewisse Mindestausdehnung haben muss und daher nicht platzsparend realisiert werden kann.To alleviate this problem somewhat, it is known that the actual transfer area should not be curved, but the products in one parallel to the belt conveyor to pass passing transfer area. The conveyor is designed in such a way that the Gripper in the transfer area along a parallel to the Belt conveyor moving movement path are moved. The gripper only opens in this straight section, to drop a product. This can reduce the quality of the Scale flow can be improved. However, the disadvantage is that the conveyor in the conveying direction of the belt conveyor must have a certain minimum extent and therefore can not be realized to save space.

Der Erfindung liegt daher die Aufgabe zugrunde, ein Verfahren und eine Vorrichtung zum Fördern von flächigen, flexiblen Produkten zur Verfügung zu stellen, bei dem bzw. bei der die genannten Nachteile vermieden werden und die Produkte bei geringem Platzbedarf in schonender Weise auf das Förderband eines Bandförderers abgelegt werden können.The invention is therefore based on the object Method and device for conveying flat, to provide flexible products in which in which the disadvantages mentioned are avoided and the Products with a small footprint in a gentle way the conveyor belt of a belt conveyor can be put down.

Die Aufgabe wird gelöst durch ein Verfahren mit den Merkmalen von Anspruch 1 sowie eine Vorrichtung mit den Merkmalen von Anspruch 6. Vorteilhafte Weiterbildungen sind in den abhängigen Ansprüchen, der Beschreibung und den Zeichnungen angegeben. The task is solved by a procedure with the Features of claim 1 and a device with the Features of claim 6. Advantageous further developments are in the dependent claims, the description and indicated the drawings.

Erfindungsgemäss ist bei einem Verfahren bzw. einer Vorrichtung der eingangs genannten Art die Bewegungsbahn der Greifer im Übergabebereich gekrümmt und nähert sich in vertikaler Richtung an das Förderband an. Grundsätzlich kann durch die Krümmung ein Übergabebereich mit geringem Platzbedarf in Förderrichtung des Bandförderers realisiert werden.According to the invention in one method or one Device of the type mentioned the movement path the gripper is curved in the transfer area and approaches in vertical direction on the conveyor belt. in principle can be a transfer area with little Space required in the conveying direction of the belt conveyor become.

Die Bewegungsbahn kann sich bezüglich des Bandförderers von oben oder von unten an dessen Förderband annähern. Im letzteren Fall kreuzt die Bewegungsbahn die Ebene des Bandförderers von unten kommend und ist beispielsweise in einem Bogen um den Anfang des Bandförderers herumgeführt. Das Produkt wird letztendlich ebenfalls von oben auf das Band abgelegt. Die von der Bewegungsbahn eingeschlossene, vom Bandförderer abgewandte Fläche ist im Fall der Annäherung von oben konvex bzw. im Falle der Annäherung von unten konkav geformt.The trajectory can change with respect to the belt conveyor Approach the conveyor belt from above or below. in the the latter case, the trajectory crosses the plane of the Belt conveyor coming from below and is for example in an arc around the beginning of the belt conveyor. The product is ultimately also from above on the Tape discarded. The enclosed by the trajectory, in the case of the surface facing away from the belt conveyor Approach from above convex or in the case of approach concave from below.

Erfindungsgemäss werden die Produkte von der Fördereinrichtung in hängender Lage gefördert. Unter hängende Lage wird verstanden, dass die Produkte weitgehend vertikal ausgerichtet sind, wobei sie aufgrund der Schwerkraft auch leicht gebogen sein können.According to the invention, the products from the conveyor promoted in a hanging position. Under hanging Location is understood to mean that the products are largely vertical are aligned, due to gravity can also be slightly curved.

Die in hängender Lage geförderten Produkte werden erfindungsgemäss im Übergabebereich vor dem Ablegen auf das Förderband derart bewegt, dass sich die nicht ergriffene Kante des Produkts mit der gleichen oder geringerer Bahngeschwindigkeit wie die ergriffene Kante bzw. der Greifer selbst bewegt. Die entsprechende Bewegung kann, insbesondere im Fall der Annäherung von unten an die Ebene des Bandförderers, allein durch geeignete Gestalt der Bewegungsbahn realisiert werden. In diesem Fall ist die Ausrichtung der Greifer relativ zur Bewegungsbahn nicht zwingend veränderlich. Bevorzugt ist hingegen, dass sich die Greifer von oben an das Förderband annähern. In diesem Fall nehmen die Greifermäuler zunächst eine Orientierung in ihrer Umlaufrichtung an, um dann im Übergabebereich in eine Orientierung entgegen der Förderrichtung des Bandförderers umzuschwenken. Die entsprechende Bewegung der Greifer wird mit einer geeigneten Kulissensteuerung veranlasst. Dies hat zur Folge, dass die nicht ergriffene Kante der Produkte, die im hängenden Zustand zunächst mit etwa der gleichen Bahngeschwindigkeit wie die ergriffene Kante bewegt wurde, im gekrümmten Übergabebereich mit geringerer Bahngeschwindigkeit als die gegenüberliegende ergriffene Kante bewegt wird. Bevorzugt bleibt das nicht ergriffene Ende in diesem Bereich weitgehend stationär, während die Richtungsänderung des Produkts durch die Form der Bewegungsbahn sowie die Orientierung der Greifer bewirkt wird.The products conveyed in a hanging position are according to the invention in the transfer area before placing on the Conveyor belt moves in such a way that the one not seized Edge of the product with the same or less Path speed like the gripped edge or the The gripper itself moves. The corresponding movement can especially in the case of approaching the level from below of the belt conveyor, solely by suitable shape of the Trajectory can be realized. In this case it is Alignment of the grippers relative to the movement path is not necessarily changeable. However, it is preferred that bring the grippers closer to the conveyor belt from above. In this In this case, the gripper mouths first take an orientation in their direction of rotation to then in the transfer area in an orientation against the conveying direction of the To pivot the belt conveyor. The corresponding movement the gripper is equipped with a suitable link control causes. This has the consequence that the not taken Edge of the products that are in the hanging state initially about the same path speed as the gripped one Edge was moved, in the curved transfer area with lower web speed than the opposite one gripped edge is moved. This does not remain preferred gripped end in this area largely stationary, while the direction change of the product through the shape the path of movement and the orientation of the grippers is effected.

Bevorzugt sind die Greifer zu jedem Zeitpunkt so ausgerichtet, dass das Produkt weitgehend eben bleibt oder nur leicht gekrümmt ist. In diesem Fall werden die Greifer vorzugsweise derart bewegt, dass die dem Bandförderer zugewandte Greiferbacke beim Ablegen des Produkts im wesentlichen parallel zur Ebene der abgelegten Produkte ausgerichtet wird.The grippers are preferably like this at all times aligned that the product remains largely flat or is only slightly curved. In this case, the grippers preferably moved such that the belt conveyor facing gripper jaw when depositing the product in the essentially parallel to the level of the stored products is aligned.

Beispiele für die Erfindung sind in den Zeichnungen dargestellt und nachfolgend beschrieben. Es zeigen rein schematisch:

Fig. 1
eine erfindungsgemässe Vorrichtung beim Fördern und Ablegen von jeweils einem Produkt;
Fig. 2
die Vorrichtung aus Fig. 1 beim Fördern und Ablegen von jeweils 3 Produkten;
Fig. 3a-c
eine Detailansicht der Vorrichtung gemäss Fig. 1 in verschiedenen Momentaufnahmen beim Ablegen eines Produkts.
Examples of the invention are shown in the drawings and described below. It shows purely schematically:
Fig. 1
a device according to the invention when conveying and depositing one product at a time;
Fig. 2
the device of Figure 1 when conveying and depositing 3 products each.
3a-c
a detailed view of the device of FIG. 1 in different snapshots when placing a product.

Figur 1 zeigt eine erfindungsgemässe Vorrichtung mit einer als Greiferförderer ausgebildeten Fördereinrichtung 1 und einem Bandförderer 2 zum Wegfördern der in einer Schuppenformation abgelegten Produkte 6 in Förderrichtung F. Figur 2 zeigt dieselbe Vorrichtung, bei der die Greifer 3 der Fördereinrichtung 1 jeweils drei deckungsgleich übereinander liegende Produkte 6 halten und gleichzeitig an den Bandförderer 2 übergeben. Dabei entsteht eine Schuppenformation bestehend aus Mini-Lagen von jeweils drei Produkten. Einen Ausschnitt des Übergabebereichs 10 aus Figur 1 in verschiedenen Momentaufnahmen zeigen Figur 3a-c.Figure 1 shows an inventive device with a designed as a gripper conveyor 1 and a belt conveyor 2 for conveying away in a Scale formation of deposited products 6 in the conveying direction F. Figure 2 shows the same device in which the grippers 3 of the conveyor 1 three each congruent hold stacked products 6 and at the same time handed over to the belt conveyor 2. This creates one Scale formation consisting of mini layers of each three products. A section of the transfer area 10 from Figure 1 in different snapshots show Figure 3a-c.

Die Fördereinrichtung 1 umfasst eine Mehrzahl entlang einer Bewegungsbahn U bewegten Greifern 3. Die Greifer 3 haben zwei Greiferbacken 4, 5, die um eine senkrecht zur Zeichnungsebene verlaufende Schwenkachse zum Öffnen und Schliessen relativ zueinander verschwenkbar sind. Das einzelweise Öffnen der Greifer 3 wird mit einer hier nicht dargestellten Kulissensteuerung bewerkstelligt. Geöffnet wird ein Greifer jeweils am Punkt der grössten Annäherung 10' der Bewegungsbahn U an den Bandförderer 2. Die Greifer 3 bzw. die beiden Greiferbacken 4, 5 sind ausserdem um eine senkrecht zur Zeichnungsebene verlaufende Achse verschwenkbar. Damit kann die Orientierung der Greifer 3 und insbesondere die Richtung A des Greifermauls relativ zur Bewegungsbahn U bzw. relativ zum Greiferkörper 3a einzeln in Abhängigkeit von der Position der Greifer 3 innerhalb der Bewegungsbahn U verändert werden. Beispiele für geeignete Greifer sind in der EP-A 0 600 183 beschrieben. Auch die Schwenkbewegung relativ zur Bewegungsbahn bzw. zum Greiferkörper 3a wird mittels einer hier nicht dargestellten Kulissensteuerung realisiert.The conveyor 1 comprises a plurality along a movement path U moved grippers 3. The grippers 3 have two gripper jaws 4, 5 which are perpendicular to one Swiveling axis for opening and Closing are pivotable relative to each other. The individually opening the gripper 3 is not with one here shown backdrop control accomplished. Open becomes a gripper at the point of closest approach 10 'of the movement path U to the belt conveyor 2. The grippers 3 and the two gripper jaws 4, 5 are also around an axis running perpendicular to the plane of the drawing can be pivoted. The orientation of the grippers 3 and in particular the direction A of the gripper mouth relative to Movement path U or relative to the gripper body 3a individually depending on the position of the grippers 3 within the trajectory U are changed. examples for suitable grippers are described in EP-A 0 600 183. The pivoting movement relative to the movement path or the gripper body 3a is not by means of one here illustrated backdrop control realized.

Vorliegend umfasst die Bewegungsbahn U zwei vertikal verlaufende Teilstücke U1, U2, zwischen denen sich der gekrümmte Übergabebereich 10 befindet. Als Übergabebereich 10 kann vorliegend etwa der halbkreisförmige Bereich der Bewegungsbahn U bezeichnet werden. Im stromaufwärts vom Übergabebereich liegenden ersten Teilabschnitt U1 der Bewegungsbahn U sind die Greifer 3 so orientiert, dass ihr durch die beiden Greiferbacken 4, 5 begrenztes Greifermaul in eine Richtung A weist, die etwa um 45° aus der Vertikalen geneigt ist. Im ersten Teilabschnitt U1 halten die Greifer 3 Produkte 6. Diese biegen sich aufgrund der Schwerkraft nach unten, so dass sie über einen grossen Teil ihrer Länge eine im wesentlichen vertikale Lage einnehmen. Da der erste Teilabschnitt U1 gerade ist, bewegen sich die nicht ergriffenen Kanten 6b der Produkte 6 mit etwa der gleichen Bahngeschwindigkeit wie die ergriffenen Kanten 6a. Im gekrümmten Übergabebereich wird erfindungsgemäss die Greiferorientierung so geändert, dass die nicht ergriffene Kante 6b weiterhin mit derselben oder bevorzugt einer geringeren Bahngeschwindigkeit wie die ergriffene Kante 6a des Produkts gefördert wird. Die Krümmung des Übergabebereichs 10 wird daher durch die Änderung der Orientierung der Greifer 3 kompensiert. Die Fördereinrichtung 1 kann daher mit einer starken Krümmung im Übergabebereich und daher in Förderrichtung sehr platzsparend ausgeführt werden. Beispielsweise ist sie so gekrümmt, dass im Übergabebereich 10 3 bis 5 Greifer nebeneinander Platz finden.In the present case, the movement path U comprises two vertically running sections U1, U2, between which the curved transfer area 10 is located. As a transfer area 10 in the present case, the semicircular area of the Trajectory U are called. Im upstream from Transfer area lying first section U1 of Trajectory U, the grippers 3 are oriented so that you limited gripper jaw by the two gripper jaws 4, 5 points in a direction A, which is about 45 ° from the Vertical is inclined. Keep in the first section U1 the grippers 3 products 6. These bend due to the Gravity down so it's over a big one Part of its length is essentially vertical take in. Since the first section U1 is straight, the undetected edges 6b of the products move 6 at about the same web speed as that gripped edges 6a. In the curved transfer area changed the gripper orientation according to the invention such that the undetected edge 6b continues with the same or preferably a lower web speed like that gripped edge 6a of the product is promoted. The Curvature of the transfer area 10 is therefore caused by the Change in the orientation of the gripper 3 compensated. The Conveyor 1 can therefore have a strong curvature very in the transfer area and therefore in the direction of conveyance space-saving. For example, it is like this curved that in the transfer area 10 3 to 5 grippers find space next to each other.

Das Produkt 6 wird beim Ablegen aus einer hängenden Lage, in der die nicht ergriffene Kante 6b in Bewegungsrichtung entlang der Bewegungsbahn U vor der ergriffenen Kante angeordnet ist, in eine liegende Lage gebracht, in der sich die nicht ergriffene Kante 6b in Bewegungsrichtung entlang der Bewegungsbahn U bzw. in Förderrichtung F des Bandförderers 2 hinter der ergriffenen Kante 6a befindet. Die im Übergabebereich 10 angenommene Orientierung relativ zur Bewegungsbahn U behalten die Greifer 3 auch nach dem Öffnen im senkrecht nach oben verlaufenden zweiten Teilabschnitt U2 der Bewegungsbahn U bei. Eine Änderung der Ausrichtung braucht erst vor oder nach dem Aufnehmen eines neuen Produktes an einer hier nicht dargestellten Übernahmestelle zu erfolgen.The product 6 is put down from a hanging position, in which the undetected edge 6b in the direction of movement along the movement path U in front of the gripped edge is placed in a lying position in which edge 6b that has not been gripped in the direction of movement along the movement path U or in the conveying direction F of the Belt conveyor 2 is located behind the gripped edge 6a. The orientation assumed in the transfer area 10 is relative to the trajectory U keep the grippers 3 even after Opening in the second, which runs vertically upwards Section U2 of the trajectory U at. A change alignment needs only before or after shooting of a new product on a not shown here Takeover point.

Wie Figur 1 zeigt, nähert sich das nicht ergriffene Ende 6b eines Produkts zuerst der durch das Förderband 2a definierten Ebene. Es ist vorteilhaft, wenn, wie hier dargestellt, das Förderband so angeordnet ist, dass das nicht ergriffene Ende 6b die Ebene des Förderbandes 2a kreuzen kann, vorzugsweise in dem der Anfang 2b des Bandförderers 2 im Übergabebereich 10 liegt. Vorliegend weist das Förderband 2a an seinem Anfang 2b ein Stützelement 7 in Form eines schräg nach unten gebogenen Leitelements auf, auf dem das nicht ergriffene Ende 6b beim Absenken zu liegen kommt und von dem es beim Weiterfördern wieder abgezogen wird. Das Stützelement 7 hat den Vorteil, dass dem freien Ende 6b eine bevorzugte Richtung gegeben wird. Es wird verhindert, dass das Ende 6b bereits mit dem Förderband 2a weggefördert wird, bevor das ergriffene Ende 6a des Produkts 6 darauf abgelegt wird.As FIG. 1 shows, the end that has not been grasped is approaching 6b of a product first by the conveyor belt 2a defined level. It is beneficial if, like here shown, the conveyor belt is arranged so that the End 6b not seized the level of the conveyor belt 2a can cross, preferably in which the beginning 2b of the Belt conveyor 2 is in the transfer area 10. present indicates the conveyor belt 2a at its beginning 2b Support element 7 in the form of an obliquely bent downward Guide element on which the end not gripped 6b comes to rest when lowering and from which it comes in Further funding is withdrawn. The support element 7 has the advantage that the free end 6b is preferred Direction is given. It prevents the end 6b is already conveyed away with the conveyor belt 2a before the gripped end 6a of the product 6 is placed thereon becomes.

Wie dargestellt, werden die Greifer 3 derart im Raum bewegt, dass das ergriffene Produkt bis zum Ablegen weitgehend gerade oder nur leicht gekrümmt ist. Es ist daher auch von Vorteil, wenn die dem Bandförderer 2 zugewandte Greiferbacke 4 beim Ablegen des Produkts 6 im wesentlichen parallel zur Ebene der abgelegten Produkte 6 ausgerichtet ist.As shown, the grippers 3 are so in space that moves the seized product until it is put down is largely straight or only slightly curved. It is therefore also an advantage if the belt conveyor 2 facing gripper jaw 4 when placing the product 6 in essentially parallel to the level of the stored products 6 is aligned.

Die Greifer 3 der Fördereinrichtung 1 aus Figur 2 werden, wie bereits beschrieben, bewegt. Die Tatsache, dass sie jeweils drei Produkte 6 greifen und übergeben, hat keinen Einfluss auf den Bewegungsablauf.The grippers 3 of the conveyor 1 from FIG. 2 are as already described, moved. The fact that they grab and hand over three products 6 each, has none Influence on the sequence of movements.

In Figur 3a-c sieht man, wie die Greifer 3 im gekrümmten Übergabebereich 10 ihre Lage von der Ausrichtung A auf A' ändern. Somit wird ein schonendes Übergeben der Produkte 6 erreicht.In Figure 3a-c you can see how the gripper 3 in the curved Transfer area 10 its position from orientation A to A ' to change. This ensures a gentle transfer of the products 6 reached.

Claims (8)

Verfahren zum Fördern von flächigen, flexiblen Produkten (6), insbesondere Druckereiprodukten, bei dem die Produkte (6) mittels einer Fördereinrichtung (1), die entlang einer Bewegungsbahn (U) bewegte, wenigstens ein Produkt (6) im Bereich einer Kante (6a) erfassende, zum Öffnen und Schliessen einzeln steuerbare Greifer (3) mit wenigstens zwei Greiferbacken (4, 5) umfasst, zu einem Übergabebereich (10) gefördert, auf ein im wesentlichen horizontal angeordnetes, in Förderrichtung (F) verlaufendes Förderband (2a) eines Bandförderers (2) einander wenigstens teilweise überlappend abgelegt und mit diesem weggefördert werden, dadurch gekennzeichnet, dass die Bewegungsbahn (U) im Übergabebereich (10) gekrümmt ist und sich in vertikaler Richtung an das Förderband (2a) annähert, die Produkte von der Fördereinrichtung (1) in hängender Lage gefördert und im Übergabebereich (10) vor dem Ablegen auf dem Förderband (2a) derart bewegt werden, dass sich die nicht ergriffene Kante (6b) des Produkts (6) mit der gleichen oder geringerer Bahngeschwindigkeit wie die ergriffene Kante (6a) bewegt.Method for conveying flat, flexible products (6), in particular printed products, in which the products (6) by means of a conveying device (1) which moved along a movement path (U), at least one product (6) in the region of an edge (6a ) detecting, individually controllable gripper (3) with at least two gripper jaws (4, 5), conveyed to a transfer area (10), on a substantially horizontally arranged conveyor belt (2a) running in the conveying direction (F) Belt conveyor (2) are at least partially overlapped and conveyed away with each other, characterized in that the movement path (U) in the transfer area (10) is curved and approaches the conveyor belt (2a) in the vertical direction, the products from the conveyor device ( 1) conveyed in a hanging position and moved in the transfer area (10) before depositing on the conveyor belt (2a) in such a way that the edge which has not been gripped ( 6b) of the product (6) with the same or lower web speed as the gripped edge (6a) moves. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass die Greifer (3) in ihrer Ausrichtung (A) relativ zur Bewegungsbahn (U) veränderbar sind, wobei die Ausrichtung (A) der Greifer (3) im Übergabebereich (10) derart geändert wird, dass das ergriffene Produkt (6) aus einer ersten Lage, in der die nicht ergriffene Kante (6b) in Bewegungsrichtung vor der ergriffenen Kante (6a) angeordnet ist, in eine zweite Lage bewegt wird, in der die nicht ergriffene Kante (6b) in Bewegungsrichtung hinter der ergriffenen Kante (6a) angeordnet ist.Method according to Claim 1, characterized in that the orientation (A) of the grippers (3) can be changed relative to the movement path (U), the orientation (A) of the grippers (3) in the transfer area (10) being changed such that the gripped product (6) is moved from a first position, in which the non-gripped edge (6b) is arranged in the direction of movement in front of the gripped edge (6a), in a second position, in which the undisclosed edge (6b) in the direction of movement is arranged behind the gripped edge (6a). Verfahren nach Anspruch 2, dadurch gekennzeichnet, dass die Greifer (3) derart bewegt werden, dass die nicht ergriffene Kante (6b) eines Produkts (6) auf einem am Beginn (2b) des Übergabebereichs (10) angeordneten Stützelement (7) zu liegen kommt und dort während wenigstens eines Teils der Vorwärtsbewegung der Greifer (3) entlang der Bewegungsbahn (U) im Übergabebereich (10) ruht oder nur geringfügig verschoben wird.A method according to claim 2, characterized in that the grippers (3) are moved such that the non-gripped edge (6b) of a product (6) lies on a support element (7) arranged at the beginning (2b) of the transfer area (10) comes and there rests during at least part of the forward movement of the grippers (3) along the movement path (U) in the transfer area (10) or is only slightly shifted. Verfahren nach einem der vorangegangenen Ansprüche, dadurch gekennzeichnet, dass die Greifer (3) derart bewegt werden, dass die dem Bandförderer (2) zugewandte Greiferbacke (4) beim Ablegen des Produkts (6) im wesentlichen parallel zur Ebene der abgelegten Produkte (6) ausgerichtet wird.Method according to one of the preceding claims, characterized in that the grippers (3) are moved in such a way that the gripper jaw (4) facing the belt conveyor (2) when the product (6) is deposited essentially parallel to the level of the deposited products (6). is aligned. Verfahren nach einem der vorangegangenen Ansprüche, dadurch gekennzeichnet, dass die Bewegungsbahn (U) in einem stromaufwärts vom Übergabebereich (10) angeordneten ersten Teilabschnitt (U1) und in einem stromabwärts vom Übergabebereich (10) angeordneten zweiten Teilabschnitt (U2) im wesentlichen senkrecht zur Förderrichtung (F) verläuft.Method according to one of the preceding claims, characterized in that the movement path (U) in a first section (U1) arranged upstream from the transfer area (10) and in a second section (U2) arranged downstream of the transfer area (10) essentially perpendicular to the conveying direction (F) runs. Vorrichtung zur Durchführung des Verfahrens nach einem der vorangegangenen Ansprüche mit einer Fördereinrichtung (1) zum Zufördern von Produkten (6) zu einem Übergabebereich (10), die entlang einer Bewegungsbahn (U) bewegte, wenigstens ein Produkt (6) im Bereich einer Kante (6a) erfassende, zum Öffnen und Schliessen einzeln steuerbare Greifer (3) mit wenigstens zwei Greiferbacken (4, 5) umfasst, und einem Bandförderer zum Wegfördern der Produkte (6) aus dem Übergabebereich (10) mit einem im wesentlichen horizontal angeordneten, in Förderrichtung (F) verlaufenden Förderband (2a), dadurch gekennzeichnet, dass die Bewegungsbahn (U) im Übergabebereich (10) gekrümmt und sich in vertikaler Richtung an das Förderband (2a) annähernd ausgebildet ist, wobei die Greifer (3) stromaufwärts vom Übergabebereich (10) eine Lage einnehmen, in der sie die Produkte (6) hängend zu fördern imstande sind, und wobei die Bewegungsbahn (U) im Übergabebereich (10) so gestaltet ist und/oder die Greifer derart in ihrer Ausrichtung (A) zur Bewegungsbahn (U) veränderbar sind, dass sich die nicht ergriffene Kante (6b) des Produkts (6) im Übergabebereich (10) mit der gleichen oder geringerer Bahngeschwindigkeit wie die ergriffene Kante (6a) bewegt.Device for carrying out the method according to one of the preceding claims, with a conveying device (1) for conveying products (6) to a transfer area (10), which moved along a movement path (U), at least one product (6) in the area of an edge ( 6a) comprising grippers (3), which can be individually controlled for opening and closing, with at least two gripper jaws (4, 5), and a belt conveyor for conveying the products (6) away from the transfer area (10) with a substantially horizontally arranged in the conveying direction (F) extending conveyor belt (2a), characterized in that the movement path (U) in the transfer area (10) is curved and approximately formed in the vertical direction to the conveyor belt (2a), the grippers (3) upstream of the transfer area (10 ) assume a position in which they are capable of conveying the products (6) hanging, and wherein the movement path (U) in the transfer area (10) is designed and / or di e The gripper can be changed in its orientation (A) in relation to the movement path (U) in such a way that the edge (6b) of the product (6) that is not gripped moves in the transfer area (10) with the same or lower path speed as the gripped edge (6a) , Vorrichtung nach Anspruch 6, dadurch gekennzeichnet, dass die Bewegungsbahn (U) in einem stromaufwärts vom Übergabebereich (10) angeordneten ersten Teilabschnitt (U1) und in einem stromabwärts vom Übergabebereich (10) angeordneten zweiten Teilabschnitt (U2) im wesentlichen senkrecht zur Förderrichtung (F) verläuft. Apparatus according to claim 6, characterized in that the movement path (U) in a first section (U1) arranged upstream from the transfer area (10) and in a second section (U2) arranged downstream of the transfer area (10) substantially perpendicular to the conveying direction (F ) runs. Vorrichtung nach Anspruch 6 oder 7, dadurch gekennzeichnet, dass die Bewegungsbahn (U) sich von oben an den Bandförderer (2a) annähert und im Übergabebereich (10) relativ zu diesem konvex gekrümmt gestaltet ist.Apparatus according to claim 6 or 7, characterized in that the movement path (U) approaches the belt conveyor (2a) from above and is designed to be convexly curved relative to the latter in the transfer area (10).
EP03003301A 2002-05-22 2003-02-13 Method for transporting flat and flexible products, and device for carrying out the method Expired - Lifetime EP1364899B1 (en)

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ATE406334T1 (en) 2008-09-15
EP1364899B1 (en) 2008-08-27
US7316392B2 (en) 2008-01-08
US20030218297A1 (en) 2003-11-27
CA2429323C (en) 2011-10-04
CA2429323A1 (en) 2003-11-22
DE50310398D1 (en) 2008-10-09
AU2003203609A1 (en) 2003-12-11

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