EP1364900A1 - 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
EP1364900A1
EP1364900A1 EP03003302A EP03003302A EP1364900A1 EP 1364900 A1 EP1364900 A1 EP 1364900A1 EP 03003302 A EP03003302 A EP 03003302A EP 03003302 A EP03003302 A EP 03003302A EP 1364900 A1 EP1364900 A1 EP 1364900A1
Authority
EP
European Patent Office
Prior art keywords
products
grippers
gripper
product
relative
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
EP03003302A
Other languages
German (de)
French (fr)
Other versions
EP1364900B1 (en
Inventor
Werner Honneger
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
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Filing date
Publication date
Application filed by Ferag AG filed Critical Ferag AG
Publication of EP1364900A1 publication Critical patent/EP1364900A1/en
Application granted granted Critical
Publication of EP1364900B1 publication Critical patent/EP1364900B1/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
    • B65H29/669—Advancing articles in overlapping streams ending 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
    • 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
    • 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
    • B65H2301/44735—Belts, endless moving elements on which the material is in surface contact suction belt
    • 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
    • B65H2405/58—Means for achieving gripping/releasing operation
    • B65H2405/583—Details of gripper orientation
    • B65H2405/5832—Details of gripper orientation and varying its orientation after gripping
    • 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
    • B65H2701/1313—Edges trailing edge

Definitions

  • the invention relates to a method for conveying flat, flexible products according to the generic term of Claim 1 and a device for performing the Method according to the preamble of claim 7.
  • a generic method and a generic method Devices are known from EP-A 0 368 009. in this connection become printed products in a scale formation promoted in which the products wholly or in each other Cover the conveying direction partially. at partial coverage overlaps the trailing edges of the Products the trailing product.
  • the disadvantage of this is that relatively high design effort mechanical stress on the products and the lack Flexibility of the known device. It is for example, not possible a plurality of products transferred to a single gripper in a controlled manner.
  • the invention is therefore based on the object Method and device of the type mentioned to develop in such a way that in a scale formation incoming products gently and with little technical effort individually or in stacks of grippers a removal device can be taken over.
  • grippers that are trained that they are both individually between a Open position and a clamp position can be transferred as well in their orientation relative to their trajectory are changeable. Examples of such grippers are in the EP-A 0 600 183.
  • the gripper shown there has two gripper jaws that open relative to each other and closing are pivotable.
  • the entire gripper is also around a parallel to the pivot axis of the Gripper jaws pivoting axis, so that the Direction of the gripper mouth relative to the movement path is changeable.
  • the movements for example initiated by setting controls.
  • the grippers are moved in such a way that the gripper jaw facing the conveyor in Takeover area the trailing edge of at least one partly lying on the trailing product Product reaches under like a shovel. Either it will Trajectory designed so that the gripper described movement relative to the product to be taken over performs. Alternatively or additionally, the Mobility of the grippers relative to their path of movement specifically used to take over a product controlled to reach under, to grasp and from the to accept incoming scale formation. The Reaching under takes place according to the invention without the product to be taken over beforehand from the trailing one Print product was lifted off. According to the invention can therefore use tools such as a bulging device or separating elements can be dispensed with.
  • the grippers slide out before or after the products reaching under relative to trailing products braked.
  • the braking device is preferably used stationary or moving stop for use or a Suction device installed in the conveyor level. This has the added advantage that the timing of the Closing the gripper and the relative speed the lower gripper jaw to the product to be taken over only must be set within certain tolerances.
  • the device according to the invention can be small construction effort and extremely space-saving become.
  • the gripper is not necessary Gripper conveyor as usual over a longer period Line parallel to the conveyor or to the products to be taken over.
  • the trajectory of the The gripper can be particularly strong in the takeover area can be realized curved, because the orientation of the gripper suitable product Change in position relative to the trajectory in the sense of Invention can be set.
  • a step to form a Intermediate stack dispensed Variations in the distance of two Products can be balanced by the braking device become.
  • the grippers are relative to the incoming products moves that they each have a variety of products take over, preferably by a stop be slowed down. Furthermore, it can be provided that several products already in through the conveyor so-called mini-layers offset from each other like a scale promoted and taken together. The jointly acquired products can then on advantageous way together a processing Station, e.g. a cutting device, so that an additional collecting step can be omitted.
  • a processing Station e.g. a cutting device
  • Figures 1 and 3 show a device according to the invention with a conveyor 1 and a conveyor 2, of the grippers 3 one (Fig. 1) or three each Products 6 (Fig. 3) are adopted. Snapshots of the Takeover area 10 for the case of FIG. 3 are in the Fig. 4a-c shown.
  • the conveyor 1 is designed as a belt conveyor, on the conveyor belt 1a a plurality of products 6, here printed products folded in the direction of conveyance F be promoted.
  • the products 6 come in one Scale formation in which the trailing edge 6a of a each product 6 rests on the trailing product, so that this is partially overlapped. It is also possible that the products 6 in a double or Multiple scale formation arrive at each several products are largely congruent with each other overlap and the mini-layers formed in this way are scale-like are staggered.
  • the conveyor 2 comprises a plurality of along one Path of movement U moved grippers 3.
  • the grippers 3 have - Two gripper jaws 4, 5, one perpendicular to the Swiveling axis for opening and Closing are pivotable relative to each other.
  • the individually closing the gripper 3 with one here backdrop control not shown accomplished.
  • the Grippers 3 are also as a whole around a perpendicular to Axis running in the plane of the drawing can be pivoted. In order to can the orientation of the gripper 3 and in particular the Direction of the open or closed gripper mouth relative to the trajectory U individually depending on their position within the trajectory U changed become.
  • the gripper jaws 4, 5 are in one aligned first part U1 of the movement path U in such a way that the gripper mouth points in the direction of movement.
  • the grippers 3 approach as far as possible to the conveyor 1 to finally one Take over product 6.
  • the trajectory U so curved and / or the grippers are relative to it moved such that the conveyor device 1 facing Gripper jaw 4 engages under a product 6 (Fig. 4a-c).
  • the gripper 3 is closed the entire gripper 3 wasted, so that in one second part U2 of the trajectory U the now closed Gripper mouth against the direction of movement of the grippers 3 is aligned.
  • This movement of the gripper 3 is also by a suitable setting control, preferably the already used to open and close the grippers Set control, realized.
  • the grippers are thus along the Movement path U moves that the product to be taken over 6 is gripped like a shovel by the gripper jaw 4.
  • the gripper 3 By moving the gripper 3 along the movement path U and / or relative to this, the product 6 from lifted off the trailing products. Closing the Gripper 3 can be done before, during or after lifting.
  • the gripper 3 is moved so that the Product gripper jaw 4 relative to the product 6 makes an arcuate movement.
  • the gripper jaw 4 is preferred when reaching under aligned tangentially to product 6.
  • the circular arc-shaped relative movement can as in the present case by a circular arc in the transfer area 10 Path of movement U of the gripper 3 can be realized.
  • the scoop-like Movement also by corresponding movement of the grippers 3 relative to the trajectory U by means of a suitable one Control can be realized.
  • the gripper 3 moved relative to the product 6 to be taken over in such a way that the lower gripper jaw 4 from a first Orientation in which they are at an angle of 60 ° to 120 °, preferably about 90 ° to the level of the product 6, (e.g. the middle gripper in Fig. 4a) into a second one Alignment essentially in the level of the product pivoted (e.g. left gripper in Figure 4b).
  • the gripper is preferably opposed to the products its direction of movement along the path of movement U pivoted.
  • the advantage of this is that it is not seized end 6b of the products 6 during the movement of the Gripper along the curved part of the movement path U can stay almost in place and not a high one Accelerations or high forces.
  • the gripper 3 as in present example vertically from above to the Conveyor 1 approximated (first part U1 of Trajectory) and in the closed state again can be discharged vertically upwards (second part U2 of the trajectory).
  • FIG. 2 shows a section of an inventive Device in which a braking device 7 Suction device 9 with a conveyor belt 9a for use comes.
  • the leading edge 6b of a product to be taken over 6 is by the conveyor 1 on the conveyor belt 9a pushed and fixed there by negative pressure.
  • the gripper 3 can position the product Pull off the suction device 9.
  • a gripper takes over three products 6 each, which are attached to a stop 8 a mini layer on top of each other.
  • the speed the gripper is so dependent on the conveying speed Conveyor 1, the product size and the product offset matched that three products each at the stop 8 appear before the lowest of them arrives Gripper is gripped. It is also possible that lowest product of the mini-layer even before toasting is reached under the stop 8 and the gripper 3 three products to be taken over 6 against the stop pushes, aligns in this way and then grasps.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Feeding Of Articles By Means Other Than Belts Or Rollers (AREA)
  • Making Paper Articles (AREA)
  • Discharge By Other Means (AREA)
  • Control And Other Processes For Unpacking Of Materials (AREA)
  • Separation, Sorting, Adjustment, Or Bending Of Sheets To Be Conveyed (AREA)
  • Collation Of Sheets And Webs (AREA)
  • Supplying Of Containers To The Packaging Station (AREA)
  • Auxiliary Devices For And Details Of Packaging Control (AREA)

Abstract

The method of feeding flat printed products (6) uses a vertical feeder with multiple grippers (3) to hold the products and remove them in succession from a horizontal conveyor. The grippers can be angularly adjusted relative to the feeder path (U) to allow the lower gripper jaw (4) to fit under the leading edge of a product and scoop it upwardly for full gripping.

Description

Die Erfindung betrifft ein Verfahren zum Fördern von flächigen, flexiblen Produkten gemäss dem Oberbegriff von Anspruch 1 sowie eine Vorrichtung zur Durchführung des Verfahrens gemäss dem Oberbegriff von Anspruch 7.The invention relates to a method for conveying flat, flexible products according to the generic term of Claim 1 and a device for performing the Method according to the preamble of claim 7.

Ein gattungsgemässes Verfahren und eine gattungsgemässe Vorrichtung sind aus der EP-A 0 368 009 bekannt. Hierbei werden Druckereiprodukte in einer Schuppenformation gefördert, in welcher die Produkte einander ganz oder in Förderrichtung gesehen teilweise überdecken. Bei teilweiser Überdeckung überdecken die Nachlaufkanten der Produkte das jeweils nachlaufende Produkt. Zur Übernahme durch einen Greiferförderer werden die Produkte mit ihren Vorlaufkanten gegen einen Anschlag gefördert und das jeweils oberste am Anschlag anstehende Druckereiprodukt wenigstens teilweise vom darunterliegenden Druckereiprodukt bzw. der Fördereinrichtung mit einer Aufwölbeeinrichtung einzeln aufgewölbt bzw. abgehoben. Dadurch werden die Voraussetzungen geschaffen, dass die Greifer, deren räumliche Lage relativ zum Zugorgan nicht veränderbar ist, die Druckereiprodukte einzelweise ergreifen und wegfördern können. Nachteilig hieran ist der verhältnismässig hohe konstruktive Aufwand, die mechanische Belastung der Produkte und die mangelnde Flexibilität der bekannten Vorrichtung. Es ist beispielsweise nicht möglich, eine Mehrzahl von Produkten kontrolliert an einen einzigen Greifer zu übergeben. A generic method and a generic method Devices are known from EP-A 0 368 009. in this connection become printed products in a scale formation promoted in which the products wholly or in each other Cover the conveying direction partially. at partial coverage overlaps the trailing edges of the Products the trailing product. For takeover the products with their Leading edges promoted against a stop and that topmost printing product at the stop at least partially from the one below Print product or the conveyor with a Bulging device individually bulged or lifted off. This creates the conditions that the Grippers, their spatial position relative to the traction element is not is changeable, the printed products individually can seize and carry away. The disadvantage of this is that relatively high design effort mechanical stress on the products and the lack Flexibility of the known device. It is for example, not possible a plurality of products transferred to a single gripper in a controlled manner.

Diese Nachteile haben auch andere aus dem Stand der Technik, z.B. der EP-A 1 055 620, bekannte Verfahren. Diese beinhalten als zusätzlichen Schritt die Bildung eines Zwischenstapels, der abgebaut wird, indem die Produkte mit einem Separierelement, z.B. einem Sauger, einzeln vom Zwischenstapel abgehoben und an hinsichtlich ihrer Orientierung nicht veränderbare Greifer eines Wegförderers übergeben werden.Others of the prior art also have these disadvantages Technology, e.g. EP-A 1 055 620, known methods. These include education as an additional step an intermediate stack that is broken down by the Products with a separating element, e.g. a sucker, individually lifted from the intermediate stack and on regarding their orientation cannot be changed Be conveyed away.

Der Erfindung liegt daher die Aufgabe zugrunde, ein Verfahren und eine Vorrichtung der eingangs genannten Art derart weiterzuentwickeln, dass in einer Schuppenformation ankommende Produkte schonend und unter geringem technischen Aufwand einzeln oder in Stapeln von Greifern einer Wegfördereinrichtung übernommen werden können.The invention is therefore based on the object Method and device of the type mentioned to develop in such a way that in a scale formation incoming products gently and with little technical effort individually or in stacks of grippers a removal device can be taken over.

Die Aufgabe wird gelöst durch ein Verfahren mit den Merkmalen von Anspruch 1 sowie durch eine Vorrichtung zur Durchführung des Verfahrens mit den Merkmalen von Anspruch 7. Vorteilhafte Weiterbildungen des Verfahrens und der Vorrichtung ergeben sich aus den abhängigen Ansprüchen, der Beschreibung und den Zeichnungen.The task is solved by a procedure with the Features of claim 1 and by a device for Carrying out the method with the features of claim 7. Advantageous further developments of the method and Device result from the dependent claims, the description and the drawings.

Ausgehend von einem Verfahren der eingangs genannten Art werden erfindungsgemäss Greifer eingesetzt, die derart ausgebildet sind, dass sie sowohl einzeln zwischen einer Offenstellung und einer Klemmstellung überführbar als auch in ihrer Ausrichtung relativ zu ihrer Bewegungsbahn veränderbar sind. Beispiele für solche Greifer sind in der EP-A 0 600 183 beschrieben. Der dort dargestellte Greifer hat zwei Greiferbacken, die relativ zueinander zum Öffnen und Schliessen verschwenkbar sind. Der gesamte Greifer ist ausserdem um eine parallel zur Schwenkachse der Greiferbacken verlaufende Achse verschwenkbar, so dass die Richtung des Greifermauls relativ zur Bewegungsbahn veränderlich ist. Die Bewegungen werden beispielsweise mittels Kulissensteuerungen veranlasst.Based on a procedure of the type mentioned at the beginning are used according to the invention, grippers that are trained that they are both individually between a Open position and a clamp position can be transferred as well in their orientation relative to their trajectory are changeable. Examples of such grippers are in the EP-A 0 600 183. The gripper shown there has two gripper jaws that open relative to each other and closing are pivotable. The entire gripper is also around a parallel to the pivot axis of the Gripper jaws pivoting axis, so that the Direction of the gripper mouth relative to the movement path is changeable. The movements, for example initiated by setting controls.

Erfindungsgemäss werden die Greifer derart bewegt, dass die der Fördereinrichtung zugewandte Greiferbacke im Übernahmebereich die Nachlaufkante wenigstens eines teilweise auf dem nachlaufenden Produkt aufliegenden Produkts schaufelartig untergreift. Entweder wird dazu die Bewegungsbahn so ausgebildet, dass der Greifer die beschriebene Bewegung relativ zum zu übernehmenden Produkt ausführt. Alternativ oder zusätzlich wird die Beweglichkeit der Greifer relativ zu ihrer Bewegungsbahn gezielt dazu ausgenutzt, ein zu übernehmendes Produkt kontrolliert zu untergreifen, zu erfassen und aus der ankommenden Schuppenformation zu übernehmen. Das Untergreifen geschieht dabei erfindungsgemäss, ohne dass das zu übernehmende Produkt zuvor vom nachlaufenden Druckereiprodukt abgehoben wurde. Gemäss der Erfindung kann daher auf Hilfsmittel wie eine Aufwölbeinrichtung oder Separierelemente verzichtet werden. Um zu verhindern, dass die zu übernehmenden Produkte aus dem noch offenen Greifer hinausgleiten, werden die Produkte vor oder nach dem Untergreifen relativ zu nachlaufenden Produkten abgebremst. Als Bremseinrichtung kommt vorzugsweise ein ortsfester oder mitbewegter Anschlag zum Einsatz oder eine Saugeinrichtung, die in der Förderebene angebracht ist. Dies hat den zusätzlichen Vorteil, dass der Zeitpunkt des Schliessens der Greifer und die relative Geschwindigkeit der unteren Greiferbacke zum zu übernehmenden Produkt nur innerhalb gewisser Toleranzen eingestellt werden müssen. According to the invention, the grippers are moved in such a way that the gripper jaw facing the conveyor in Takeover area the trailing edge of at least one partly lying on the trailing product Product reaches under like a shovel. Either it will Trajectory designed so that the gripper described movement relative to the product to be taken over performs. Alternatively or additionally, the Mobility of the grippers relative to their path of movement specifically used to take over a product controlled to reach under, to grasp and from the to accept incoming scale formation. The Reaching under takes place according to the invention without the product to be taken over beforehand from the trailing one Print product was lifted off. According to the invention can therefore use tools such as a bulging device or separating elements can be dispensed with. To prevent, that the products to be taken over from the still open The grippers slide out before or after the products reaching under relative to trailing products braked. The braking device is preferably used stationary or moving stop for use or a Suction device installed in the conveyor level. This has the added advantage that the timing of the Closing the gripper and the relative speed the lower gripper jaw to the product to be taken over only must be set within certain tolerances.

Da die Greiferbewegung rein mechanisch durch eine geeignete Kulissensteuerung realisiert werden kann, ist auch der steuerungstechnische Aufwand gering.Since the gripper movement is purely mechanical through a suitable backdrop control can be realized the control engineering effort is also low.

Die erfindungsgemässe Vorrichtung kann unter geringem konstruktiven Aufwand sowie extrem platzsparend realisiert werden. Insbesondere ist nicht notwendig, die Greifer des Greiferförderers wie bisher üblich über eine längere Strecke parallel zur Fördereinrichtung bzw. zu den zu übernehmenden Produkten zu führen. Die Bewegungsbahn der Greifer kann insbesondere auch im Übernahmebereich stark gekrümmt realisiert werden, da die Ausrichtung der Greifer zum zu übernehmenden Produkt durch geeignete Lageveränderung relativ zur Bewegungsbahn im Sinne der Erfindung eingestellt werden kann. Des weiteren wird erfindungsgemäss auf einen Schritt zur Bildung eines Zwischenstapels verzichtet. Variationen im Abstand zweier Produkte können durch die Bremseinrichtung ausgeglichen werden.The device according to the invention can be small construction effort and extremely space-saving become. In particular, the gripper is not necessary Gripper conveyor as usual over a longer period Line parallel to the conveyor or to the products to be taken over. The trajectory of the The gripper can be particularly strong in the takeover area can be realized curved, because the orientation of the gripper suitable product Change in position relative to the trajectory in the sense of Invention can be set. Furthermore, according to the invention to a step to form a Intermediate stack dispensed. Variations in the distance of two Products can be balanced by the braking device become.

In einer vorteilhaften Weiterbildung der Erfindung werden die Greifer derart relativ zu den ankommenden Produkten bewegt, dass sie jeweils eine Mehrzahl von Produkten übernehmen, die vorzugsweise durch einen Anschlag abgebremst werden. Des weiteren kann vorgesehen sein, dass mehrere Produkte bereits durch die Fördereinrichtung in schuppenartig gegeneinander versetzten sogenannten Mini-Lagen gefördert und gemeinsam ergriffen werden. Die gemeinsam übernommenen Produkte können dann auf vorteilhafte Weise gemeinsam einer weiterverarbeitenden Station zugeführt werden, z.B. einer Schneideeinrichtung, so dass ein zusätzlicher Sammelschritt entfallen kann. In an advantageous development of the invention the grippers are relative to the incoming products moves that they each have a variety of products take over, preferably by a stop be slowed down. Furthermore, it can be provided that several products already in through the conveyor so-called mini-layers offset from each other like a scale promoted and taken together. The jointly acquired products can then on advantageous way together a processing Station, e.g. a cutting device, so that an additional collecting step can be omitted.

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

Fig. 1
Eine Seitenansicht einer erfindungsgemässen Vorrichtung mit einem Anschlag als Bremseinrichtung;
Fig. 2
eine Detailansicht einer erfindungsgemässen Vorrichtung mit einer Saugeinrichtung als Bremseinrichtung;
Fig. 3
eine Seitenansicht einer erfindungsgemässen Vorrichtung;
Fig. 4a-c
den Übergabebereich bei einer erfindungsgemässen Vorrichtung in verschiedenen Momentaufnahmen bei der Durchführung des erfindungsgemässen Verfahrens.
Examples of the invention are shown in the drawings and described below. Here show purely schematically:
Fig. 1
A side view of an inventive device with a stop as a braking device;
Fig. 2
a detailed view of an inventive device with a suction device as a braking device;
Fig. 3
a side view of an inventive device;
4a-c
the transfer area in a device according to the invention in different snapshots when carrying out the method according to the invention.

Figur 1 und 3 zeigen eine erfindungsgemässe Vorrichtung mit einer Fördereinrichtung 1 und einem Wegförderer 2, von dessen Greifern 3 jeweils ein (Fig. 1) bzw. jeweils drei Produkte 6 (Fig. 3) übernommen werden. Momentaufnahmen des Übernahmebereichs 10 für den Fall aus Fig. 3 sind in den Fig. 4a-c dargestellt.Figures 1 and 3 show a device according to the invention with a conveyor 1 and a conveyor 2, of the grippers 3 one (Fig. 1) or three each Products 6 (Fig. 3) are adopted. Snapshots of the Takeover area 10 for the case of FIG. 3 are in the Fig. 4a-c shown.

Die Fördereinrichtung 1 ist als Bandförderer ausgebildet, auf dessen Förderband 1a eine Mehrzahl von Produkten 6, hier gefalteten Druckereiprodukten in Förderrichtung F gefördert werden. Die Produkte 6 kommen in einer Schuppenformation an, in der die Nachlaufkante 6a eines jeden Produkts 6 auf dem nachlaufenden Produkt aufliegt, so dass dieses teilweise überlappt wird. Es ist auch möglich, dass die Produkte 6 in einer Doppel- oder Mehrfach-Schuppenformation ankommen, bei der jeweils mehrere Produkte einander weitgehend deckungsgleich überlappen und die so gebildeten Mini-Lagen schuppenartig versetzt angeordnet sind.The conveyor 1 is designed as a belt conveyor, on the conveyor belt 1a a plurality of products 6, here printed products folded in the direction of conveyance F be promoted. The products 6 come in one Scale formation in which the trailing edge 6a of a each product 6 rests on the trailing product, so that this is partially overlapped. It is also possible that the products 6 in a double or Multiple scale formation arrive at each several products are largely congruent with each other overlap and the mini-layers formed in this way are scale-like are staggered.

Der Wegförderer 2 umfasst eine Mehrzahl von 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 Schliessen der Greifer 3 wird mit einer hier nicht dargestellten Kulissensteuerung bewerkstelligt. Die Greifer 3 sind ausserdem als Ganzes um eine senkrecht zur Zeichnungsebene verlaufende Achse verschwenkbar. Damit kann die Orientierung der Greifer 3 und insbesondere die Richtung des geöffneten bzw. geschlossenen Greifermauls relativ zur Bewegungsbahn U einzeln in Abhängigkeit von ihrer Position innerhalb der Bewegungsbahn U verändert werden. Vorliegend sind die Greiferbacken 4, 5 in einem ersten Teil U1 der Bewegungsbahn U derart ausgerichtet, dass das Greifermaul in Bewegungsrichtung zeigt. Im Übernahmebereich 10, hier etwa dem halbkreisförmigen Teil der Bewegungsbahn U, nähern sich die Greifer 3 soweit wie möglich an die Fördereinrichtung 1 an, um schliesslich ein Produkt 6 zu übernehmen. Dort ist die Bewegungsbahn U derart gekrümmt und/oder werden die Greifer relativ dazu derart bewegt, dass die der Fördereinrichtung 1 zugewandte Greiferbacke 4 ein Produkt 6 untergreift (Fig. 4a-c). Während und/oder nach dem Schliessen des Greifers 3 wird der gesamte Greifer 3 verschwendkt, so dass in einem zweiten Teil U2 der Bewegungsbahn U das nun geschlossene Greifermaul gegen die Bewegungsrichtung der Greifer 3 ausgerichtet ist. Auch diese Bewegung der Greifer 3 wird durch eine geeignete Kulissensteuerung, vorzugsweise die bereits zum Öffnen und Schliessen der Greifer verwendete Kulissensteuerung, realisiert.The conveyor 2 comprises a plurality of along one Path of movement U moved grippers 3. The grippers 3 have - Two gripper jaws 4, 5, one perpendicular to the Swiveling axis for opening and Closing are pivotable relative to each other. The individually closing the gripper 3 with one here backdrop control not shown accomplished. The Grippers 3 are also as a whole around a perpendicular to Axis running in the plane of the drawing can be pivoted. In order to can the orientation of the gripper 3 and in particular the Direction of the open or closed gripper mouth relative to the trajectory U individually depending on their position within the trajectory U changed become. In the present case, the gripper jaws 4, 5 are in one aligned first part U1 of the movement path U in such a way that the gripper mouth points in the direction of movement. in the Takeover area 10, here about the semicircular part the trajectory U, the grippers 3 approach as far as possible to the conveyor 1 to finally one Take over product 6. There is the trajectory U so curved and / or the grippers are relative to it moved such that the conveyor device 1 facing Gripper jaw 4 engages under a product 6 (Fig. 4a-c). During and / or after the gripper 3 is closed the entire gripper 3 wasted, so that in one second part U2 of the trajectory U the now closed Gripper mouth against the direction of movement of the grippers 3 is aligned. This movement of the gripper 3 is also by a suitable setting control, preferably the already used to open and close the grippers Set control, realized.

Erfindungsgemäss werden die Greifer so entlang der Bewegungsbahn U bewegt, dass das zu übernehmende Produkt 6 von der Greiferbacke 4 schaufelartig untergriffen wird. Durch Bewegung des Greifers 3 entlang der Bewegungsbahn U und/oder relativ dazu wird das untergriffene Produkt 6 von den nachlaufenden Produkten abgehoben. Das Schliessen des Greifers 3 kann vor, beim oder nach dem Abheben erfolgen. Die Bremseinrichtung 7, die hier als Anschlag 8 ausgebildet ist, verhindert, dass das untergriffene Produkt 6 vom Greifer 3 in Förderrichtung F gestossen wird und aus dem Greifer gleitet, bevor es durch diesen in klemmender Weise ergriffen wird. Durch die Bremseinrichtung 7 wird das untergriffene Produkt 6 relativ zu den nachlaufenden Produkten oder zumindest relativ zum es übernehmenden Greifer 3 abgebremst.According to the invention, the grippers are thus along the Movement path U moves that the product to be taken over 6 is gripped like a shovel by the gripper jaw 4. By moving the gripper 3 along the movement path U and / or relative to this, the product 6 from lifted off the trailing products. Closing the Gripper 3 can be done before, during or after lifting. The braking device 7, which is shown here as a stop 8 is formed, prevents the undermined Product 6 is pushed by the gripper 3 in the conveying direction F. and slides out of the gripper before it goes in through it is clamped. Through the Braking device 7 becomes the product 6 relative to the trailing products or at least decelerated relative to the gripper 3 taking it over.

Vorzugsweise wird der Greifer 3 so bewegt, dass die das Produkt untergreifende Greiferbacke 4 relativ zum Produkt 6 eine kreisbogenförmige Bewegung macht. Besonders bevorzugt ist die Greiferbacke 4 beim Untergreifen tangential zum Produkt 6 ausgerichtet. Die kreisbogenförmige Relativbewegung kann wie vorliegend durch eine im Übergabebereich 10 kreisbogenförmige Bewegungsbahn U der Greifer 3 realisiert werden. Alternativ oder zusätzlich kann die schaufelartige Bewegung auch durch entsprechende Bewegung der Greifer 3 relativ zur Bewegungsbahn U mittels einer geeigneten Steuerung realisiert werden.Preferably, the gripper 3 is moved so that the Product gripper jaw 4 relative to the product 6 makes an arcuate movement. Especially the gripper jaw 4 is preferred when reaching under aligned tangentially to product 6. The circular arc-shaped relative movement can as in the present case by a circular arc in the transfer area 10 Path of movement U of the gripper 3 can be realized. Alternatively or additionally, the scoop-like Movement also by corresponding movement of the grippers 3 relative to the trajectory U by means of a suitable one Control can be realized.

Wie insbesondere in Fig. 4a-c gezeigt, wird der Greifer 3 relativ zu dem zu übernehmenden Produkt 6 derart bewegt, dass die untergreifende Greiferbacke 4 aus einer ersten Ausrichtung, in der sie einen Winkel von 60° bis 120°, bevorzugt etwa 90°, zur Ebene des Produkts 6 einnimmt, (z.B. der mittlere Greifer in Fig. 4a) in eine zweite Ausrichtung im wesentlichen in der Ebene des Produkts verschwenkt (z.B. linker Greifer in Figur 4b). Im Laufe der weiteren Bewegung nach dem vollständigen Ergreifen des bzw. der Produkte wird der Greifer vorzugsweise entgegen seiner Bewegungsrichtung entlang der Bewegungsbahn U verschwenkt. Dies hat den Vorteil, dass das nicht ergriffene Ende 6b der Produkte 6 während der Bewegung der Greifer entlang des gekrümmten Teils der Bewegungsbahn U nahezu an Ort und Stelle bleiben kann und keinen hohen Beschleunigungen oder hohen Kräften ausgesetzt ist. Ein weiterer Vorteil ist, dass die Greifer 3 wie im vorliegenden Beispiel senkrecht von oben an die Fördereinrichtung 1 angenähert (erster Teil U1 der Bewegungsbahn) und im geschlossenen Zustand wieder senkrecht nach oben abgeführt werden können (zweiter Teil U2 der Bewegungsbahn).As shown in particular in FIGS. 4a-c, the gripper 3 moved relative to the product 6 to be taken over in such a way that the lower gripper jaw 4 from a first Orientation in which they are at an angle of 60 ° to 120 °, preferably about 90 ° to the level of the product 6, (e.g. the middle gripper in Fig. 4a) into a second one Alignment essentially in the level of the product pivoted (e.g. left gripper in Figure 4b). In the course of the further movement after the complete grasp of the the gripper is preferably opposed to the products its direction of movement along the path of movement U pivoted. The advantage of this is that it is not seized end 6b of the products 6 during the movement of the Gripper along the curved part of the movement path U can stay almost in place and not a high one Accelerations or high forces. On Another advantage is that the gripper 3 as in present example vertically from above to the Conveyor 1 approximated (first part U1 of Trajectory) and in the closed state again can be discharged vertically upwards (second part U2 of the trajectory).

Figur 2 zeigt einen Ausschnitt aus einer erfindungsgemässen Vorrichtung, bei der als Bremseinrichtung 7 eine Saugeinrichtung 9 mit einem Förderband 9a zum Einsatz kommt. Die Vorlaufkante 6b eines zu übernehmenden Produkts 6 wird durch die Fördereinrichtung 1 auf das Förderband 9a geschoben und mittels Unterdruck dort fixiert. In Abhängigkeit von der Geschwindigkeit des Förderbands 9a relativ zu der der Fördereinrichtung 1 wird das zu übergebende Produkt 6 relativ zu den nachfolgenden Produkten abgebremst oder zumindest derart räumlich fixiert, dass es beim Untergreifen durch den Greifer 3 nicht in Förderrichtung F wegrutschen kann. In der Klemmstellung kann der Greifer 3 das Produkt schliesslich von der Saugeinrichtung 9 abziehen.Figure 2 shows a section of an inventive Device in which a braking device 7 Suction device 9 with a conveyor belt 9a for use comes. The leading edge 6b of a product to be taken over 6 is by the conveyor 1 on the conveyor belt 9a pushed and fixed there by negative pressure. In Dependence on the speed of the conveyor belt 9a relative to that of the conveyor 1, this becomes Passing product 6 relative to the following Products slowed down or at least spatially fixes that when reaching under the gripper 3 cannot slip in the direction of conveyance F. In the Finally, the gripper 3 can position the product Pull off the suction device 9.

Im Ausführungsbeispiel von Figur 3 übernimmt ein Greifer jeweils drei Produkte 6, die sich an einem Anschlag 8 zu einer Mini-Lage übereinander schieben. Die Geschwindigkeit der Greifer ist dabei so an die Fördergeschwindigkeit der Fördereinrichtung 1, die Produktgrösse und den Produktversatz abgestimmt, dass jeweils drei Produkte am Anschlag 8 auflaufen, ehe das unterste von ihnen vom ankommenden Greifer untergriffen wird. Es ist auch möglich, dass das unterste Produkt der Mini-Lage bereits vor dem Anstossen an den Anschlag 8 untergriffen wird und der Greifer 3 die drei zu übernehmenden Produkte 6 gegen den Anschlag anschiebt, auf diese Weise ausrichtet und anschliessend ergreift.In the embodiment of Figure 3, a gripper takes over three products 6 each, which are attached to a stop 8 a mini layer on top of each other. The speed the gripper is so dependent on the conveying speed Conveyor 1, the product size and the product offset matched that three products each at the stop 8 appear before the lowest of them arrives Gripper is gripped. It is also possible that lowest product of the mini-layer even before toasting is reached under the stop 8 and the gripper 3 three products to be taken over 6 against the stop pushes, aligns in this way and then grasps.

Claims (9)

Verfahren zum Fördern von flächigen, flexiblen Produkten (6), insbesondere Druckereiprodukten, bei dem die Produkte (6) mittels einer Fördereinrichtung (1) kontinuierlich in einer Formation, in welcher die Produkte (6) einander ganz oder in Förderrichtung (F) gesehen teilweise überdecken, wobei bei teilweiser Überdeckung die Nachlaufkanten (6a) der Produkte (6) das jeweils nachlaufende Produkt überdecken, zu einem Übernahmebereich (10) gefördert und dort von einem Wegförderer (2), der entlang einer Bewegungsbahn (U) bewegte, zum Öffnen und Schliessen einzeln steuerbare Greifer (3) mit wenigstens zwei Greiferbacken (4, 5) umfasst, übernommen werden, dadurch gekennzeichnet, dass die Greifer (3) in ihrer Ausrichtung relativ zur Bewegungsbahn (U) veränderbar sind, wobei die Greifer (3) derart bewegt werden, dass die der Fördereinrichtung (1) zugewandte Greiferbacke (4) im Übernahmebereich (10) die Nachlaufkante (6a) wenigstens eines teilweise auf dem nachlaufenden Produkt aufliegenden Produkts (6) schaufelartig untergreift, und anschliessend abhebt, und wobei die Produkte (6) vor oder nach dem Untergreifen relativ zu nachlaufenden Produkten abgebremst und/oder in ihrer Lage fixiert werden.Method for conveying flat, flexible products (6), in particular printed products, in which the products (6) by means of a conveying device (1) continuously in a formation in which the products (6) are seen completely or partially in the conveying direction (F) cover, with partial overlap the trailing edges (6a) of the products (6) covering the trailing product, conveyed to a takeover area (10) and there by a conveyor (2) that moved along a movement path (U) to open and Closing comprises individually controllable grippers (3) with at least two gripper jaws (4, 5), characterized in that the orientation of the grippers (3) relative to the movement path (U) can be changed, the grippers (3) moving in this way be that the gripper jaw (4) facing the conveying device (1) in the takeover area (10) the trailing edge (6a) at least partially on the trailing product engages under flying product (6) in a shovel-like manner, and then lifts off, and the products (6) are braked and / or fixed in position relative to trailing products before or after reaching under. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass die Greifer (3) im Übernahmebereich (10) derart bewegt werden, dass die der Fördereinrichtung (1) zugewandte Greiferbacke (4) relativ zu dem wenigstens einen zu übernehmenden Produkt (6) entlang einer im wesentlichen kreisbogenförmigen Bahn bewegt wird.Method according to claim 1, characterized in that the grippers (3) are moved in the takeover area (10) in such a way that the gripper jaw (4) facing the conveying device (1) essentially moves relative to the at least one product (6) to be taken over circular arc-shaped path is moved. Verfahren nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass der Greifer (3) relativ zu dem wenigstens einen zu übernehmenden Produkt (6) derart bewegt wird, dass die untergreifende Greiferbacke (4) aus einer ersten Ausrichtung in eine zweite Ausrichtung im wesentlichen in der Ebene des Produkts (6) verschwenkt wird.Method according to claim 1 or 2, characterized in that the gripper (3) is moved relative to the at least one product (6) to be taken over in such a way that the gripping jaw (4) engaging from a first orientation into a second orientation essentially in the Level of the product (6) is pivoted. Verfahren nach einem der vorangegangenen Ansprüche, dadurch gekennzeichnet, dass die Produkte (6) durch die Fördereinrichtung (1) zu einer Bremseinrichtung (7) gefördert und dadurch abgebremst werden.Method according to one of the preceding claims, characterized in that the products (6) are conveyed by the conveying device (1) to a braking device (7) and are thereby braked. Verfahren nach Anspruch 4, dadurch gekennzeichnet, dass die Geschwindigkeit der Greifer (3) derart an die Fördergeschwindigkeit der Fördereinrichtung (1) angepasst gewählt wird, dass eine vorbestimmte Anzahl von Produkten an einem Anschlag (8) zu einem Stapel aufgeschoben wird, der als Ganzes vom Greifer (3) ergriffen wird.A method according to claim 4, characterized in that the speed of the grippers (3) is selected to be adapted to the conveying speed of the conveying device (1) in such a way that a predetermined number of products are pushed onto a stop (8) to form a stack, which as a whole is gripped by the gripper (3). Verfahren nach einem der vorangegangenen Ansprüche, dadurch gekennzeichnet, dass die Bewegungsbahn (U) in einem stromaufwärts vom Übernahmebereich (10) angeordneten ersten Teilabschnitt (U1) und in einem stromabwärts vom Übernahmebereich (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 subsection (U1) arranged upstream from the takeover area (10) and in a second subsection (U2) arranged downstream of the takeover area (10) essentially perpendicular to the conveying direction (F) runs. Vorrichtung zur Durchführung des Verfahrens nach einem der vorangegangenen Ansprüche mit einer Fördereinrichtung (1) und einem Wegförderer (2), der entlang einer Bewegungsbahn (U) bewegte, zum Öffnen und Schliessen einzeln steuerbare Greifer (3) mit wenigstens zwei Greiferbacken (4, 5) umfasst, dadurch gekennzeichnet, dass die Greifer (3) in ihrer Ausrichtung relativ zur Bewegungsbahn (U) veränderbar sind, dass eine Steuereinrichtung zum Bewegen der Greifer (3) sowie eine Bremseinrichtung (7) vorhanden ist, mit der von der Fördereinrichtung (1) geförderte Produkte relativ zu nachlaufenden Produkten abbremsbar und/oder in ihrer Lage fixierbar sind.Device for carrying out the method according to one of the preceding claims, with a conveyor (1) and a conveyor (2) which moves along a movement path (U) and can be individually controlled grippers (3) with at least two gripper jaws (4, 5) for opening and closing ), characterized in that the grippers (3) can be changed in their orientation relative to the movement path (U), that there is a control device for moving the grippers (3) and a braking device (7) with which the conveyor device (1 ) conveyed products can be braked relative to trailing products and / or their position can be fixed. Vorrichtung nach Anspruch 7, dadurch gekennzeichnet, dass die Bremseinrichtung (7) ein Anschlag (8) oder eine Saugeinrichtung (9) ist.Apparatus according to claim 7, characterized in that the braking device (7) is a stop (8) or a suction device (9). Vorrichtung nach Anspruch 7, dadurch gekennzeichnet, dass die Bewegungsbahn (U) in einem stromaufwärts vom Übernahmebereich (10) angeordneten ersten Teilabschnitt (U1) und in einem stromabwärts vom Übernahmebereich (10) angeordneten zweiten Teilabschnitt (U2) im wesentlichen senkrecht zur Förderrichtung (F) verläuft.Apparatus according to claim 7, characterized in that the movement path (U) in a first section (U1) arranged upstream of the takeover area (10) and in a second section (U2) arranged downstream of the takeover area (10) substantially perpendicular to the conveying direction (F ) runs.
EP03003302A 2002-05-22 2003-02-13 Method for transporting flat and flexible products, and device for carrying out the method Expired - Lifetime EP1364900B1 (en)

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CH712816B1 (en) * 2006-12-22 2018-02-15 Ferag Ag Method and device for conveying flat products.
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AU2003203510B2 (en) 2008-07-31
CA2429316C (en) 2011-02-22
EP1364900B1 (en) 2006-08-30
US20030218296A1 (en) 2003-11-27
DE50304813D1 (en) 2006-10-12
AU2003203510A1 (en) 2003-12-11
CA2429316A1 (en) 2003-11-22
US7150454B2 (en) 2006-12-19
DK1364900T3 (en) 2006-11-27

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