EP1371588A1 - Positioning device for gripper bar of machine for punching and embossing sheets - Google Patents

Positioning device for gripper bar of machine for punching and embossing sheets Download PDF

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Publication number
EP1371588A1
EP1371588A1 EP03009871A EP03009871A EP1371588A1 EP 1371588 A1 EP1371588 A1 EP 1371588A1 EP 03009871 A EP03009871 A EP 03009871A EP 03009871 A EP03009871 A EP 03009871A EP 1371588 A1 EP1371588 A1 EP 1371588A1
Authority
EP
European Patent Office
Prior art keywords
positioning device
stop
gripper carriage
gripper
carriage
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
EP03009871A
Other languages
German (de)
French (fr)
Other versions
EP1371588B1 (en
Inventor
Dieter Gronau
Gerhard Klaassen
Hermann Namowitz
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.)
Heidelberger Druckmaschinen AG
Original Assignee
Heidelberger Druckmaschinen AG
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Publication date
Application filed by Heidelberger Druckmaschinen AG filed Critical Heidelberger Druckmaschinen AG
Publication of EP1371588A1 publication Critical patent/EP1371588A1/en
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Publication of EP1371588B1 publication Critical patent/EP1371588B1/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
    • B65H29/02—Delivering or advancing articles from machines; Advancing articles to or into piles by mechanical grippers engaging the leading edge only of the articles
    • B65H29/04—Delivering or advancing articles from machines; Advancing articles to or into piles by mechanical grippers engaging the leading edge only of the articles the grippers being carried by endless chains or bands
    • B65H29/042—Intermediate conveyors, e.g. transferring devices
    • B65H29/044—Intermediate conveyors, e.g. transferring devices conveying through a machine
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H9/00—Registering, e.g. orientating, articles; Devices therefor
    • B65H9/06—Movable stops or gauges, e.g. rising and falling front stops
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2555/00—Actuating means
    • B65H2555/20—Actuating means angular
    • B65H2555/24—Servomotors
    • 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
    • B65H2701/17—Nature of material
    • B65H2701/176—Cardboard
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2801/00—Application field
    • B65H2801/42—Die-cutting

Definitions

  • the invention relates to a sheet punching and embossing machine with a gripper carriage and a positioning device for the gripper carriage, the Gripper car Gripper for clamping arches has limited elasticity is attached to a transport chain and intermittently by means of the transport chain is movable between the processing stations, as well as at its in Running direction front side has at least one stop surface, wherein the positioning device has at least one in the path of movement of the gripper carriage contains pivotable stop on a driven Swivel shaft is attached.
  • Such sheet punching and embossing machines are known to Manufacture of packaging used to make paper, cardboard or other Punching out packaging materials, so-called benefits, from which later folding boxes or similar packaging are made become.
  • the known sheet-processing machines have devices for feeding, separating, applying, gripping, aligning, punching or embossing, breaking out the waste and depositing the benefits.
  • the sheet material e.g. B. coming from a stack is continuously conveyed to the grippers of the gripper carriage, so that the sheets can be clamped individually.
  • the gripper carriages are moved intermittently between the processing stations via a transport chain.
  • the gripper carriage In order to be able to process the sheets in the stations correctly, indicate the gripper carriage on its front side in the direction of travel on, which can be moved against a stop mounted in the machine frame are.
  • the stop is mounted on a swivel shaft and can be moved of the gripper carriage can be pivoted.
  • the Swivel shaft via another lever attached to the swivel shaft and an attached, articulated linkage driven.
  • From DE-PS 30 44 084 is a sheet punching and embossing machine with one Gripper device known in which the detected sheet by means of a gripper device transported intermittently from one processing station to the next become.
  • the gripper carriages have the front one in the running direction Side stop surfaces, which are used for precise positioning of the carriage Direction of movement at the individual stations during the from this station operation to be carried out (e.g. punching, embossing or breaking out) serves, usually the positioning of the gripper carriage against a stop surface as a pass and the stop itself as a register designated.
  • the positioning takes place in that a stop wheel is placed on the stop surface located on the left and right end of the carriage which is rotatably held on a pin.
  • the stop wheel acts as a stop.
  • the stop wheel is in turn held by a lever welded onto a hollow shaft.
  • the hollow shaft is rotatably supported about its axis within the processing station.
  • the hollow shaft is pivoted via a linkage structure, which is attached to the hollow shaft via a further lever.
  • the lever with the stop wheel can be moved between a stop position and a second position pivoted out of the movement path of the gripper bar.
  • the stop roller is expediently arranged so that it is as far out as possible at the respective end of the gripper carriage so that the positioning accuracy is increased.
  • DE-PS 30 44 084 further discloses that the gripper carriage at one Chain link rotatable against an axis parallel to the gripper carriage Suspended spring force and by a roller in a chain track independent Guideway is guided. After the grapple cart has hit on the positioning device and braking the chain, the The gripper carriage is pressed against the stop by the spring force and thus positioned. After the operation to be carried out in the station swivels the positioning device, i.e. the lever located on the hollow shaft with the attached stop wheel, out of the path of movement of the gripper carriage out and the gripper carriage can be driven by means of the driven chain be moved to the next processing station.
  • the positioning device i.e. the lever located on the hollow shaft with the attached stop wheel
  • the object of the invention is therefore the mechanical effort for positioning the gripper carriage in the processing station in the Way to simplify that a safe positioning at increased clock frequencies can be achieved in the processing stations.
  • At least one electrically operated, adjustable servo motor is used, which directly with the swivel shaft connected is. This has the advantage that it is usually used for adjustment and actuation of the positioning device used mechanically elaborate linkage drives can be dispensed with.
  • the Joints also, especially in relation to the blows when braking the Grab car, and thus inaccuracies related to the position of the attack.
  • Another advantage is an electric motor less maintenance than a linkage equipped with joints.
  • the servomotor is preferably attached directly to the positioning device.
  • a gear in front of the servo motor to integrate so that an indirect connection between the engine and the stop is made.
  • Figure 1 shows the side view of a gripper carriage in the processing station of a punching and embossing machine and the associated positioning device.
  • FIG. 1 shows the preferred embodiment variant of the invention.
  • the side view shows a gripper carriage 1 and a processing station as a punching station 2, the gripper carriage 1 abutting the positioning device 4 at its front end 3 in the running direction.
  • the positioning device 4 consists of a rotatably mounted stop wheel 5, a lever 6 carrying the stop wheel 5 and a pivotable shaft 7 on which the lever 6 is fastened.
  • the pivot shaft 7 is in turn mounted in the side part of the machine frame 8.
  • the servomotor is preferably mounted directly on the shaft 7 pivoting the stop. A swiveling of the positioning device 4 would thus be made possible by using the smallest mechanical means.
  • the circles 10, 11 shown in broken lines show the positions of the stop wheel 5 after pivoting in the running direction of the gripper carriage 11 and the position of the stop wheel 5 against the running direction of the gripper carriage 10th
  • the positioning device 4 can at the same time Brake function can be assigned.
  • the positioning device moves for this purpose 4 over the actual stop position belonging to the processing station 2 away and the gripper carriage 1 against. Now the gripper wagon is driving 1 into the processing station 2, the gripper carriage 1 hits before reaching it the processing position on the positioning device 4. Taking advantage the braking function of the servo motors, the gripper carriage 1 can now be slowed down.
  • the gripper carriage 1 has no or only a minimal impulse on the positioning device 4 exercises.
  • the mechanical energy of the gripper carriage 1 is taken up by the drive of the positioning device 4.
  • Usually occurring natural vibrations of the gripper carriage 1 in the undamped Impact on the positioning device 4 are prevented.
  • This natural vibration behavior of the gripper carriage 1 when it hits the positioning device 4 usually leads to inaccuracies due to vibrations when processing the sheets because the sheets are continuously conveyed become.
  • the gripper carriage 1 has at least one at its leading ends Stop surface 3 against which the positioning device 4 acts.
  • the lever of Positioning device 4 is attached directly to the swivel shaft 7 and forms the swivel arm for the stop wheel 5.
  • the swivel shaft is 7 continuously executed and stored in both sides of the machine bed 8.
  • the gripper carriage 1 is preferably provided with one each at the lateral ends Stop surface 3 and each one positioning device 4 equipped so that the pivot shaft 7 two positioning devices 4 against two stop surfaces 3 moves.
  • the positioning devices 4 stored separately and equipped with separate, independent servo motors. It is therefore possible to set up the machine to align the gripper carriage 1 individually.
  • the gripper carriage 1 is also shown only schematically. On in the running direction rear end 12 of the gripper carriage 1 holds the gripper 13 Sheet 14 in the processing station 2.
  • the sheets 14 are gripped by the gripper 13.
  • a sensor 15 is arranged in the plant station 16.
  • the sensor 15 is arranged above the sheet 14 and detects the position of the edge of the sheet.
  • the sensor can also be arranged at another position and, for example, detect a print mark on the sheet 14.
  • the gripper carriage 1 is then accelerated and braked again in the subsequent stations for processing.
  • the respective positioning device 4 can then be controlled in the processing station and positioned in accordance with the determined data.
  • the sheet punching and embossing machine is thus able to compensate for inaccuracies that have arisen during the gripping of the sheet 14 by means of a corresponding alignment of the positioning device 4.
  • the positioning device 4 moves into the position 10. While the gripper carriage 1 is moving into the processing station 2 then the front end 3 of the gripper carriage 1 reaches the positioning device 4 at position 10.
  • the motor is in a braking function, so that the mechanical energy of the gripper carriage 1 over the front End 3 of the gripper carriage 1 and the stop wheel 5 and the lever 6 to the Swivel shaft 7 and thus transmitted to the servo motor. After this The gripper carriage arrives at the position belonging to the processing station 1 to a standstill.
  • the position of the positioning device shown in FIG. 1 4 and the gripper carriage 1 indicates the state of the machine during editing the bow again.
  • Has the sensor 15 a deviation between the target and actual coordinates of the Determine arc 14, so a control loop into which the sensor 15 and the motor for actuating the register 4 is integrated, the deviation by means of a correction of the position of the positioning device 4 compensated.
  • a correction the position of the arc deviating from the target coordinates is in as well as against the transport direction of the sheet 14 because the gripper carriage 1 resiliently supported against the stop 5 of the positioning device 4 is held.
  • the sensor 15 shown works as an optoelectric means to detect the edge of the sheet 14. However, any other one can non-contact sensor 15 (laser, optoelectronic means, CCD camera), for example to recognize the position of the print mark become.
  • the position of the sheet 14 realigned via the positioning devices 4 become. Aligning the arch 14 in the running direction of the arch 14 as well as twisting the bow 14 possible.
  • the possibility is created of the sheet 14 in the processing station 2 by forming the control loop consisting of a sensor 15, control and drive to position correctly.
  • each stop 5 can be pivoted independently in and against the direction of travel.
  • the possibility is thus created of aligning the sheet 14 in the processing station via the positioning devices 4.
  • one positioning device 4 is aligned against the running direction and the other positioning device in the running direction. The sheet 14 can then be machined aligned.
  • the register 4 After processing the sheet 14, the register 4 swivels into the position 11. This clears the way for the gripper carriage and the sheet 14 moves in the next processing station. The positioning device 4 then moves back to position 10 to brake the next gripper carriage 1.

Abstract

The machine has a gripper carriage (1) fixed with limited springing to a transport chain. The carriage moves between processing stations (2) and has a stop wheel on a leading side in a running direction. A positioning device (4) has a stop that is pivoted into a movement path of the carriage and fixed to a driven pivoting shaft. A servomotor drives the stop and is connected directly to the shaft.

Description

Die Erfindung betrifft eine Bogenstanz- und prägemaschine mit einem Greiferwagen und einer Positioniereinrichtung für die Greiferwagen, wobei der Greiferwagen Greifer zum Klemmén von Bogen aufweist begrenzt federnd an einer Transportkette befestigt ist und mittels der Transportkette intermittierend zwischen den Bearbeitungsstationen verfahrbar ist, sowie an seiner in Laufrichtung vorderen Seite mindestens eine Anschlagfläche aufweist, wobei die Positioniereinrichtung mindestens einen in die Bewegungsbahn des Greiferwagens einschwenkbaren Anschlag enthält, der an einer angetriebenen Schwenkwelle befestigt ist.The invention relates to a sheet punching and embossing machine with a gripper carriage and a positioning device for the gripper carriage, the Gripper car Gripper for clamping arches has limited elasticity is attached to a transport chain and intermittently by means of the transport chain is movable between the processing stations, as well as at its in Running direction front side has at least one stop surface, wherein the positioning device has at least one in the path of movement of the gripper carriage contains pivotable stop on a driven Swivel shaft is attached.

Derartige Bogenstanz- und prägemaschinen werden bekannterweise bei der Herstellung von Verpackungen eingesetzt, um aus Papier, Karton oder anderen Verpackungsmaterialien Zuschnitte, sogenannte Nutzen, auszustanzen, aus denen später Faltschachteln oder ähnliche Verpackungen hergestellt werden.Such sheet punching and embossing machines are known to Manufacture of packaging used to make paper, cardboard or other Punching out packaging materials, so-called benefits, from which later folding boxes or similar packaging are made become.

Die bekannten bogenverarbeitenden Maschinen weisen Einrichtungen zum Zuführen, Vereinzeln, Anlegen, Greifen, Ausrichten, Stanzen bzw. Prägen, Ausbrechen des Abfalls und Ablegen der Nutzen auf.
In einer solchen Maschine wird das Bogenmaterial, das z. B. von einem Stapel kommend kontinuierlich gefördert wird, taktweise den Greifern des Greiferwagens zugeführt, so dass die Bogen einzeln geklemmt werden können. Die Greiferwagen werden dabei über eine Transportkette intermettierend zwischen den Bearbeitungsstationen verfahren. The known sheet-processing machines have devices for feeding, separating, applying, gripping, aligning, punching or embossing, breaking out the waste and depositing the benefits.
In such a machine, the sheet material, e.g. B. coming from a stack is continuously conveyed to the grippers of the gripper carriage, so that the sheets can be clamped individually. The gripper carriages are moved intermittently between the processing stations via a transport chain.

Um die Bogen in den Stationen lagegerecht bearbeiten zu können, weisen die Greiferwagen an ihrer in Laufrichtung vorderen Seite Anschlagflächen auf, die gegen einen im Maschinengestell gelagerten Anschlag bewegbar sind. Der Anschlag ist auf einer Schwenkwelle montiert und kann in die Bewegungsbahn des Greiferwagens geschwenkt werden. Dabei wird die Schwenkwelle über einen weiteren, an der Schwenkwelle befestigten Hebel und ein daran befestigtes, gelenkig verbundenes Gestänge angetrieben.In order to be able to process the sheets in the stations correctly, indicate the gripper carriage on its front side in the direction of travel on, which can be moved against a stop mounted in the machine frame are. The stop is mounted on a swivel shaft and can be moved of the gripper carriage can be pivoted. The Swivel shaft via another lever attached to the swivel shaft and an attached, articulated linkage driven.

Aus der DE-PS 30 44 084 ist eine Bogenstanz- und prägemaschine mit einer Greifereinrichtung bekannt, in der die erfaßten Bogen mittels einer Greifereinrichtung intermittierend von einer Bearbeitungsstation zur nächsten transportiert werden. Dabei besitzen die Greiferwagen an der in Laufrichtung vorderen Seite Anschlagflächen, die zur genauen Positionierung des Laufwagens in Bewegungsrichtung an den einzelnen Stationen während des von dieser Station auszuführenden Arbeitsganges (z. B. einem Stanzen, Prägen oder Ausbrechen) dient, üblicherweise wird hierbei die Positionierung des Greiferwagens gegen eine Anschlagfläche als Passen und der Anschlag selbst als Passer bezeichnet.From DE-PS 30 44 084 is a sheet punching and embossing machine with one Gripper device known in which the detected sheet by means of a gripper device transported intermittently from one processing station to the next become. The gripper carriages have the front one in the running direction Side stop surfaces, which are used for precise positioning of the carriage Direction of movement at the individual stations during the from this station operation to be carried out (e.g. punching, embossing or breaking out) serves, usually the positioning of the gripper carriage against a stop surface as a pass and the stop itself as a register designated.

Die Positionierung erfolgt dadurch, daß sich an die am linken und rechten Ende des Laufwagens befindliche Anschlagfläche ein Anschlagrad anlegt, das auf einem Zapfen drehbar gehalten ist. Das Anschlagrad wirkt dabei als Anschlag. Das Anschlagrad wird dabei seinerseits von einem auf einer Hohlwelle aufgeschweißten Hebel gehalten. Die Hohlwelle ist Innerhalb der Bearbeitungsstation um ihre Achse drehbar gelagert. Dabei wird die Hohlwelle über eine Gestängekonstruktion, die über einen weiteren Hebel an der Hohlwelle befestigt ist, geschwenkt. Somit ist der Hebel mit dem Anschlagrad zwischen einer Anschlagstellung und einer zweiten aus dem Bewegungsweg der Greiferstange herausgeschwenkten Stellung bewegbar.
Die Anschlagrolle wird zweckmäßigerweise so angeordnet, daß sie möglichst weit außen am jeweiligen Ende des Greiferwagens liegt, damit die Positioniergenauigkeit erhöht wird. The positioning takes place in that a stop wheel is placed on the stop surface located on the left and right end of the carriage which is rotatably held on a pin. The stop wheel acts as a stop. The stop wheel is in turn held by a lever welded onto a hollow shaft. The hollow shaft is rotatably supported about its axis within the processing station. The hollow shaft is pivoted via a linkage structure, which is attached to the hollow shaft via a further lever. Thus, the lever with the stop wheel can be moved between a stop position and a second position pivoted out of the movement path of the gripper bar.
The stop roller is expediently arranged so that it is as far out as possible at the respective end of the gripper carriage so that the positioning accuracy is increased.

Die DE-PS 30 44 084 offenbart weiterhin, dass der Greiferwagen an jeweils einem Kettenglied um eine zum Greiferwagen parallele Achse drehbar gegen Federkraft aufgehängt und durch eine Rolle in einer von der Kettenbahn unabhängige Führungsbahn geführt ist. Nach dem Aufschlagen des Greiferwagens auf die Positioniereinrichtung und dem Abbremsen der Kette, wird der Greiferwagen mittels der Federkraft gegen den Anschlag gedrückt und somit positioniert. Nach dem in der Station auszuführenden Arbeitsgang schwenkt die Positioniereinrichtung, dass heißt der auf der Hohlwelle befindliche Hebel mit dem daran befestigten Anschlagrad, aus der Bewegungsbahn des Greiferwagens heraus und der Greiferwagen kann mittels der angetriebenen Kette in die nächste Bearbeitungsstation verfahren werden.DE-PS 30 44 084 further discloses that the gripper carriage at one Chain link rotatable against an axis parallel to the gripper carriage Suspended spring force and by a roller in a chain track independent Guideway is guided. After the grapple cart has hit on the positioning device and braking the chain, the The gripper carriage is pressed against the stop by the spring force and thus positioned. After the operation to be carried out in the station swivels the positioning device, i.e. the lever located on the hollow shaft with the attached stop wheel, out of the path of movement of the gripper carriage out and the gripper carriage can be driven by means of the driven chain be moved to the next processing station.

Ein Problem bei derartigen Positioniereinrichtungen ist, dass der präzise Antrieb der Positioniereinrichtungen mit hohem mechanischen Aufwand verbunden ist.A problem with such positioning devices is that the precise drive the positioning devices connected with high mechanical effort is.

Der Erfindung liegt daher die Aufgabe zugrunde, den mechanischen Aufwand zur Positionierung des Greiferwagens in der Bearbeitungsstation in der Weise zu vereinfachen, daß eine sichere Positionierung bei gesteigerten Taktfrequenzen in den Bearbeitungsstationen erzielt werden kann.The object of the invention is therefore the mechanical effort for positioning the gripper carriage in the processing station in the Way to simplify that a safe positioning at increased clock frequencies can be achieved in the processing stations.

Diese Aufgabe wird entsprechend dem Patentanspruch 1 dadurch gelöst, daß als Schwenkantrieb des Anschlags mindestens ein elektrisch betriebener, regelbarer Servomotor verwendet wird, der unmittelbar mit der Schwenkwelle verbunden ist. Dies bietet den Vorteil, daß auf die üblicherweise zur Einstellung und Betätigung der Positioniereinrichtung verwendeten mechanisch aufwendigen Gestängeantriebe verzichtet werden kann.This object is achieved in accordance with claim 1 that at least one electrically operated, adjustable servo motor is used, which directly with the swivel shaft connected is. This has the advantage that it is usually used for adjustment and actuation of the positioning device used mechanically elaborate linkage drives can be dispensed with.

Neben der kostenintensiven Herstellung eines Gestängeantriebes können die Gelenke auch, insbesondere in Bezug auf die Schläge beim Abbremsen des Greiferwagens, ausschlagen und somit Ungenauigkeiten bezogen auf die Position des Anschlags hervorrufen. Als weiterer Vorteil benötigt ein Elektromotor einen geringeren Wartungsaufwand als ein mit Gelenken ausgestattetes Gestänge.In addition to the cost-intensive production of a linkage drive, the Joints also, especially in relation to the blows when braking the Grab car, and thus inaccuracies related to the position of the attack. Another advantage is an electric motor less maintenance than a linkage equipped with joints.

Ein weiterer Vorteil, der sich durch den Einsatz elektrisch betriebener, regelbarer Motoren ergibt, ist der, daß die Position des Anschlags zu jedem beliebigen Zeitpunkt des Einrichtens der Maschine korrigiert werden kann. Bei mechanischen Antrieben kann eine einmal eingestellte Anschlagposition nur mittels einer Verstellung von Justier- oder Einstellschrauben verändert werden, wozu üblicherweise Abdeckungen entfernt werden müssen, woraus wiederum ein hoher mechanischer und zeitlicher Aufwand folgt. Dem gegenüber steht die Einstellung der Position des Anschlags durch den elektrischen Antrieb, der zu jedem Zeitpunkt, mittels der Motorensteuerung und ohne in die Mechanik der Maschine eingreifen zu müssen verändert werden kann.Another advantage that can be achieved by using electrically operated, controllable Motors results is that the position of the stop at any The time of setting up the machine can be corrected. With mechanical Once a stop position has been set, it can only be actuated by means of an adjustment of adjusting or adjusting screws are changed, for which usually covers have to be removed, from which again a high mechanical and time expenditure follows. Opposite stands the setting of the position of the stop by the electric drive, the at any time, by means of the engine control and without in the Mechanics of the machine have to be changed.

Bevorzugt wird der Servomotor unmittelbar an der Positioniereinrichtung befestigt. Je nach Motorgröße und auftretenden dynamischen Kräften in Bezug auf den Greiferwagen ist es ebenfalls vorstellbar, vor den Servomotor ein Getriebe zu integrieren, so daß eine mittelbare Verbindung zwischen dem Motor und dem Anschlag hergestellt ist.The servomotor is preferably attached directly to the positioning device. Depending on the size of the engine and the dynamic forces involved it is also conceivable on the gripper carriage, a gear in front of the servo motor to integrate so that an indirect connection between the engine and the stop is made.

In der Zeichnung ist eine bevorzugte Ausführungsform einer erfindungsgemäßen Positioniereinrichtung für einen Greiferwagen dargestellt.In the drawing is a preferred embodiment of an inventive Positioning device shown for a gripper carriage.

Es zeigtIt shows

Figur 1 die Seitenansicht auf einen Greiferwagen in der Bearbeitungsstation eines Stanz- und Prägeautomaten und die dazugehörige Positioniereinrichtung.Figure 1 shows the side view of a gripper carriage in the processing station of a punching and embossing machine and the associated positioning device.

In der Figur 1 ist die bevorzugte Ausgestaltungsvariante der Erfindung dargestellt. Die Seitenansicht zeigt einen Greiferwagen 1 und eine Bearbeitungsstation als Stanzstation 2, wobei der Greiferwagen 1 an seinem in Laufrichtung vorderen Ende 3 gegen die Positioniereinrichtung 4 stößt. Die Positioniereinrichtung 4 besteht aus einem drehbar gelagerten Anschlagrad 5, einem das Anschlagrad 5 tragenden Hebel 6 und einer schwenkbaren Welle 7, auf der der Hebel 6 befestigt ist. Die Schwenkwelle 7 wiederum ist im Seitenteil des Maschinengestells 8 gelagert.
An der Schwenkwelle 7 befindet sich ein Adapterflansch 9 zur Befestigung eines Getriebes oder einer unmittelbaren Montage eines Motors. Bevorzugt wird der Servomotor unmittelbar an die den Anschlag schwenkende Welle 7 montiert. Somit wäre durch den Einsatz geringster mechanischer Mittel ein Schwenken der Positioniereinrichtung 4 ermöglicht.FIG. 1 shows the preferred embodiment variant of the invention. The side view shows a gripper carriage 1 and a processing station as a punching station 2, the gripper carriage 1 abutting the positioning device 4 at its front end 3 in the running direction. The positioning device 4 consists of a rotatably mounted stop wheel 5, a lever 6 carrying the stop wheel 5 and a pivotable shaft 7 on which the lever 6 is fastened. The pivot shaft 7 is in turn mounted in the side part of the machine frame 8.
On the swivel shaft 7 there is an adapter flange 9 for fastening a gearbox or a direct mounting of a motor. The servomotor is preferably mounted directly on the shaft 7 pivoting the stop. A swiveling of the positioning device 4 would thus be made possible by using the smallest mechanical means.

Die gestrichelt dargestellten Kreise 10, 11 zeigen die Positionen des Anschlagrads 5 nach dem Schwenken in Laufrichtung des Greiferwagens 11 und die Position des Anschlagrads 5 gegen die Laufrichtung des Greiferwagens 10.The circles 10, 11 shown in broken lines show the positions of the stop wheel 5 after pivoting in the running direction of the gripper carriage 11 and the position of the stop wheel 5 against the running direction of the gripper carriage 10th

Wird der Schwenkbereich 10, 11 der Positioniereinrichtung 4 erweitert, so daß er über die zur Bearbeitungsstation 2 gehörige Anschlag- oder Sollposition hinaus schwenkbar ist, so kann der Positioniereinrichtung 4 gleichzeitig eine Bremsfunktion zugeordnet werden. Zu diesem Zweck fährt die Positioniereinrichtung 4 über die eigentliche zur Bearbeitungsstation 2 gehörige Anschlagposition hinweg und dem Greiferwagen 1 entgegen. Fährt nun der Greiferwagen 1 in die Bearbeitungsstation 2, so trifft der Greiferwagen 1 vor dem Erreichen der Bearbeitungsposition auf die Positioniereinrichtung 4. Unter Ausnutzung der Bremsfunktion der Servomotoren kann der Greiferwagen 1 nun abgebremst werden.If the swivel range 10, 11 of the positioning device 4 is expanded, so that he over the stop or target position belonging to the processing station 2 is also pivotable, the positioning device 4 can at the same time Brake function can be assigned. The positioning device moves for this purpose 4 over the actual stop position belonging to the processing station 2 away and the gripper carriage 1 against. Now the gripper wagon is driving 1 into the processing station 2, the gripper carriage 1 hits before reaching it the processing position on the positioning device 4. Taking advantage the braking function of the servo motors, the gripper carriage 1 can now be slowed down.

Hieraus ergibt sich ein wesentlicher Vorteil der Erfindung dahingehend, daß der Greiferwagen 1 keinen oder nur einen minimalen Impuls auf die Positioniereinrichtung 4 ausübt. Die mechanische Energie des Greiferwagens 1 wird vom Antrieb der Positioniereinrichtung 4 aufgenommen. Die normalerweise auftretenden Eigenschwingungen des Greiferwagens 1 beim ungedämpften Auftreffen auf die Positioniereinrichtung 4 werden unterbunden. Dieses Eigenschwingverhalten des Greiferwagens 1 beim Auftreffen auf die Positioniereinrichtung 4 führt üblicherweise zu schwingungsbedingten Ungenauigkeiten beim Bearbeiten der Bogen, da die Bogen kontinuierlich weitergefördert werden.This results in a significant advantage of the invention in that the gripper carriage 1 has no or only a minimal impulse on the positioning device 4 exercises. The mechanical energy of the gripper carriage 1 is taken up by the drive of the positioning device 4. Usually occurring natural vibrations of the gripper carriage 1 in the undamped Impact on the positioning device 4 are prevented. This natural vibration behavior of the gripper carriage 1 when it hits the positioning device 4 usually leads to inaccuracies due to vibrations when processing the sheets because the sheets are continuously conveyed become.

Durch das Schwenken der Positioniereinrichtung 4 gegen die Laufrichtung des Greiferwagens 1 und das Abbremsen des Greiferwagens 1 durch den elektrischen Antrieb kann das Schwingen minimiert und die Bearbeitungsgeschwindigkeit der Bogen 14 in den Bearbeitungsstationen wesentlich erhöht werden.By pivoting the positioning device 4 against the running direction of the gripper carriage 1 and the braking of the gripper carriage 1 by the electric drive can minimize the swing and the machining speed the sheet 14 in the processing stations increased significantly become.

Der Greiferwagen 1 besitzt an seinen vorlaufenden Enden mindestens eine Anschlagfläche 3, gegen die die Positioniereinrichtung 4 wirkt. Der Hebel der Positioniereinrichtung 4 ist unmittelbar an der Schwenkwelle 7 befestigt und bildet den Schwenkarm für das Anschlagrad 5. Dabei ist die Schwenkwelle 7 durchgängig ausgeführt und in beiden Seiten des Maschinenbettes 8 gelagert. Vorzugsweise ist der Greiferwagen 1 an den seitlichen Enden mit je einer Anschlagfläche 3 und je einer Positioniereinrichtung 4 ausgestattet, so dass die Schwenkwelle 7 zwei Positioniereinrichtungen 4 gegen zwei Anschlagflächen 3 bewegt.The gripper carriage 1 has at least one at its leading ends Stop surface 3 against which the positioning device 4 acts. The lever of Positioning device 4 is attached directly to the swivel shaft 7 and forms the swivel arm for the stop wheel 5. The swivel shaft is 7 continuously executed and stored in both sides of the machine bed 8. The gripper carriage 1 is preferably provided with one each at the lateral ends Stop surface 3 and each one positioning device 4 equipped so that the pivot shaft 7 two positioning devices 4 against two stop surfaces 3 moves.

In einer weiteren Ausgestaltungsvariante wird die Positioniereinrichtungen 4 separat gelagert und mit separaten, unabhängigen Servomotoren ausgestattet. Während des Einrichtens der Maschine ist somit die Möglichkeit gegeben, den Greiferwagen 1 individuell auszurichten.In a further embodiment variant, the positioning devices 4 stored separately and equipped with separate, independent servo motors. It is therefore possible to set up the machine to align the gripper carriage 1 individually.

Der Greiferwagen 1 ist ebenfalls nur schematisch dargestellt. Am in Laufrichtung rückseitigen Ende 12 des Greiferwagens 1 hält die Greiferzange 13 den Bogen 14 in der Bearbeitungsstation 2. The gripper carriage 1 is also shown only schematically. On in the running direction rear end 12 of the gripper carriage 1 holds the gripper 13 Sheet 14 in the processing station 2.

In der Anlage-Station 16 werden die Bogen 14 von der Greiferzange 13 erfasst. Um die Ausrichtung des Bogens 14 in Relation zum Greiferwagen 1 zu ermitteln, ist in der Anlage-Station 16 ein Sensor 15 angeordnet. Der Sensor 15 ist über dem Bogen 14 angeordnet und erfasst die Position des Rand des Bogen. In einer weiteren Ausgestaltungvariante kann der Sensor auch an einer anderen Stellle angeordnet sein und zum Beispiel eine Druckmarke auf dem Bogen 14 erfassen.
Anschließend wird der Greiferwagen 1 beschleunigt und in den nachfolgenden Stationen zum Bearbeiten wieder abgebremst. Abhängig von der in der Anlage-Station ermittelten Lage des Bogens 14 im Greiferwagen 1, kann dann die jeweilige Positioniereinrichtung 4 in der Bearbeitungsstation angesteuert und entsprechend der ermittelten Daten positioniert werden. Die Bogenstanzund Prägemaschine ist somit in der Lage Ungenaulgkeiten, die während des Greifens des Bogens 14 entstanden sind mittels einer entsprechenden Ausrichtung der Positioniereinrichtung 4 zu kompensieren.In the plant station 16, the sheets 14 are gripped by the gripper 13. In order to determine the alignment of the sheet 14 in relation to the gripper carriage 1, a sensor 15 is arranged in the plant station 16. The sensor 15 is arranged above the sheet 14 and detects the position of the edge of the sheet. In a further embodiment variant, the sensor can also be arranged at another position and, for example, detect a print mark on the sheet 14.
The gripper carriage 1 is then accelerated and braked again in the subsequent stations for processing. Depending on the position of the sheet 14 in the gripper carriage 1 determined in the installation station, the respective positioning device 4 can then be controlled in the processing station and positioned in accordance with the determined data. The sheet punching and embossing machine is thus able to compensate for inaccuracies that have arisen during the gripping of the sheet 14 by means of a corresponding alignment of the positioning device 4.

Vor dem Einfahren des mit dem Bogen 14 bestückten Greiferwagens 1 in die Bearbeitungsstation 2 bewegt sich die Positioniereinrichtung 4 in die Position 10. Während des Einfahrens des Greiferwagens 1 in die Bearbeitungsstation 2 erreicht dann das vordere Ende 3 des Greiferwagens 1 die Positioniereinrichtung 4 an der Position 10. Der Motor befindet sich dabei in einer Bremsfunktion, so daß die mechanische Energie des Greiferwagens 1 über das vordere Ende 3 des Greiferwagens 1 sowie das Anschlagrad 5 und den Hebel 6 an die Schwenkwelle 7 und damit an den Servomotor übertragen wird. Nach dem Erreichen der zur Bearbeitungsstation gehörigen Position kommt der Greiferwagen 1 zum Stillstand. Die in Figur 1 dargestellte Position der Positioniereinrichtung 4 und des Greiferwagens 1 gibt den Zustand der Maschine während des Bearbeitens des Bogens wieder.Before retracting the gripper carriage 1 equipped with the sheet 14 into the Processing station 2, the positioning device 4 moves into the position 10. While the gripper carriage 1 is moving into the processing station 2 then the front end 3 of the gripper carriage 1 reaches the positioning device 4 at position 10. The motor is in a braking function, so that the mechanical energy of the gripper carriage 1 over the front End 3 of the gripper carriage 1 and the stop wheel 5 and the lever 6 to the Swivel shaft 7 and thus transmitted to the servo motor. After this The gripper carriage arrives at the position belonging to the processing station 1 to a standstill. The position of the positioning device shown in FIG. 1 4 and the gripper carriage 1 indicates the state of the machine during editing the bow again.

Hat der Sensor 15 eine Abweichung zwischen Soll- und Ist-Koordinaten des Bogens 14 ermitteln, so wird über einen Regelkreis, in den der Sensor 15 und der Motor zur Betätigung des Passers 4 integriert ist, die Abweichung mittels einer Korrektur der Lage der Positioniereinrichtung 4 ausgeglichen. Eine Korrektur der Lage des Bogens abweichend von den Soll-Koordinaten ist dabei in wie auch gegen die Transportrichtung der Bogen 14 möglich, da der Greiferwagen 1 federnd gelagert gegen den Anschlag 5 der Positioniereinrichtung 4 gehalten wird. Der dargestellte Sensor 15 arbeitet als optoelektrisches Mittel zur Erkennung des Rands des Bogens 14. Es kann aber auch ein beliebig anderer berührungsloser Sensor 15 (Laser, optoelektronische Mittel, CCD-Kamera), zum Beispiel zur Erkennung der Lage der Druckmarke, eingesetzt werden.Has the sensor 15 a deviation between the target and actual coordinates of the Determine arc 14, so a control loop into which the sensor 15 and the motor for actuating the register 4 is integrated, the deviation by means of a correction of the position of the positioning device 4 compensated. A correction the position of the arc deviating from the target coordinates is in as well as against the transport direction of the sheet 14 because the gripper carriage 1 resiliently supported against the stop 5 of the positioning device 4 is held. The sensor 15 shown works as an optoelectric means to detect the edge of the sheet 14. However, any other one can non-contact sensor 15 (laser, optoelectronic means, CCD camera), for example to recognize the position of the print mark become.

Werden beim Abgleich der Soll- und Ist-Koordinaten Fehler ermittelt, so kann die Lage der Bogen 14 über die Positioniereinrichtungen 4 neu ausgerichtet werden. Dabei ist ein Ausrichten des Bogens 14 in Laufrichtung des Bogens 14 wie auch ein Verdrehen der Bogen 14 möglich. Durch die separate Lagerung der Positioniereinrichtungen 4, ist die Möglichkeit geschaffen, den Bogen 14 in der Bearbeitungsstation 2 durch Bildung des Regelkreises bestehend aus Sensor 15, Steuerung und Antrieb, lagegerecht zu positionieren.If errors are determined when comparing the target and actual coordinates, then can the position of the sheet 14 realigned via the positioning devices 4 become. Aligning the arch 14 in the running direction of the arch 14 as well as twisting the bow 14 possible. Through the separate storage of the positioning devices 4, the possibility is created of the sheet 14 in the processing station 2 by forming the control loop consisting of a sensor 15, control and drive to position correctly.

Ist die Stanz- und Prägemaschine mit zwei separat gelagerten Positioniereinrichtungen 4 versehen, so ist jeder Anschlag 5 unabhängig in wie auch gegen die Laufrichtung schwenkbar.
In dem Fall in dem ein Bogen 14 verdreht vom Greiferwagen 1 erfasst wurde, ist somit die Möglichkeit geschaffen, den Bogen 14 in der Bearbeitungsstation über die Positioniereinrichtungen 4 auszurichten. Dazu wird eine Positioniereinrichtung 4 gegen die Laufrichtung und die andere Positioniereinrichtung in Laufrichtung ausgerichtet. Der Bogen 14 ist dann ausgerichtet bearbeitbar.If the punching and embossing machine is provided with two separately mounted positioning devices 4, each stop 5 can be pivoted independently in and against the direction of travel.
In the event that a sheet 14 has been rotated by the gripper carriage 1, the possibility is thus created of aligning the sheet 14 in the processing station via the positioning devices 4. For this purpose, one positioning device 4 is aligned against the running direction and the other positioning device in the running direction. The sheet 14 can then be machined aligned.

Nach dem Bearbeiten des Bogens 14 schwenkt der Passer 4 in die Position 11. Somit ist der Weg für den Greiferwagen frei und der Bogen 14 bewegt sich in die nächste Bearbeitungsstation. Hierauf fährt die Positioniereinrichtung 4 wieder in die Position 10, um den nächsten Greiferwagen 1 abzubremsen.After processing the sheet 14, the register 4 swivels into the position 11. This clears the way for the gripper carriage and the sheet 14 moves in the next processing station. The positioning device 4 then moves back to position 10 to brake the next gripper carriage 1.

Claims (4)

Bogenstanz- und prägemaschine mit einem Greiferwagen (1) und einer Positioniereinrichtung (4) für die Greiferwagen (1), wobei der Greiferwagen (1) Greifer (13) zum Klemmen von Bogen (14) aufweist, begrenzt federnd an einer Transpörtkette befestigt ist und mittels der Transportkette intermittierend zwischen den Bearbeitungsstationen (2) verfahrbar ist, sowie an seiner in Laufrichtung vorderen Seite mindestens eine Anschlagfläche (3) aufweist, wobei die Positioniereinrichtung (4) mindestens einen in die Bewegungsbahn des Greiferwagens (1) einschwenkbaren Anschlag (5) enthält, der an einer angetriebenen Schwenkwelle befestigt ist, dadurch gekennzeichnet, daß
als Schwenkantrieb des Anschlags (5) mindestens ein elektrisch betriebener, regelbarer Servomotor verwendet wird, der unmittelbar mit der Schwenkwelle verbunden ist.Sheet punching and embossing machine with a gripper carriage (1) and a positioning device (4) for the gripper carriage (1), The gripper carriage (1) has a gripper (13) for clamping sheets (14), is resiliently attached to a transpört chain and can be moved intermittently between the processing stations (2) by means of the transport chain, and at least one stop surface on its front side in the running direction (3) has wherein the positioning device (4) contains at least one stop (5) which can be swiveled into the movement path of the gripper carriage (1) and which is fastened to a driven swivel shaft, characterized in that
at least one electrically operated, controllable servo motor, which is connected directly to the swivel shaft, is used as the swivel drive of the stop (5). Positioniereinrichtung nach Anspruch 1, dadurch gekennzeichnet, daß der Anschlag (5) der Positioniereinrichtung (4) gegen die Laufrichtung des Greiferwagens und über die zur Bearbeitungsstation (2) gehörige Anschlagposition hinaus schwenkbar gelagert ist.Positioning device according to claim 1, characterized in that the stop (5) of the positioning device (4) is pivotally mounted against the running direction of the gripper carriage and beyond the stop position belonging to the processing station (2). Positioniereinrichtung nach einem der Ansprüche 1 und 2, dadurch gekennzeichnet, daß die Positioniereinrichtung (4) mit mindestens zwei separat gelagerten Anschlägen (5) versehen ist und dass jeder Anschlag (5) über einen separaten Servomotor angetrieben ist.Positioning device according to one of claims 1 and 2, characterized in that the positioning device (4) is provided with at least two separately mounted stops (5) and that each stop (5) is driven by a separate servo motor. Positioniereinrichtung nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, daß die Bearbeitungsstation (2) mit berührungslos arbeitenden Sensoren (15) zur Positionserkennung der Bogen (14) versehen ist, und daß die Sensoren (15) in Regelkontakt mit den Servomotoren stehen.Positioning device according to one of claims 1 to 3, characterized in that the processing station (2) is provided with contactless sensors (15) for position detection of the sheets (14), and that the sensors (15) are in regular contact with the servomotors.
EP03009871A 2002-06-10 2003-05-14 Positioning device for gripper bar of machine for punching and embossing sheets Expired - Lifetime EP1371588B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10225647 2002-06-10
DE10225647A DE10225647A1 (en) 2002-06-10 2002-06-10 Positioning device for the gripper carriage of a sheet-processing punching and embossing machine

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EP1371588A1 true EP1371588A1 (en) 2003-12-17
EP1371588B1 EP1371588B1 (en) 2006-09-13

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EP (1) EP1371588B1 (en)
JP (1) JP4406220B2 (en)
AT (1) ATE339380T1 (en)
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ES (1) ES2271418T3 (en)

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DE102007031848A1 (en) 2007-07-09 2009-01-15 Heidelberger Druckmaschinen Ag Sheet punching and embossing machine and sheet alignment method
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US6866262B2 (en) 2005-03-15
EP1371588B1 (en) 2006-09-13
DE10225647A1 (en) 2003-12-24
ES2271418T3 (en) 2007-04-16
DE50305008D1 (en) 2006-10-26
JP4406220B2 (en) 2010-01-27
US20030227128A1 (en) 2003-12-11
JP2004025871A (en) 2004-01-29
ATE339380T1 (en) 2006-10-15

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