EP1371588B1 - 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
EP1371588B1
EP1371588B1 EP03009871A EP03009871A EP1371588B1 EP 1371588 B1 EP1371588 B1 EP 1371588B1 EP 03009871 A EP03009871 A EP 03009871A EP 03009871 A EP03009871 A EP 03009871A EP 1371588 B1 EP1371588 B1 EP 1371588B1
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EP
European Patent Office
Prior art keywords
positioning device
stop
gripper carriage
gripper
sheet
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP03009871A
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German (de)
French (fr)
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EP1371588A1 (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
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Heidelberger Druckmaschinen AG
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Publication date
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Publication of EP1371588A1 publication Critical patent/EP1371588A1/en
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    • 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, wherein the gripper carriage gripper for Klemmén of sheet has limited resiliently attached to a transport chain and by means of the transport chain is intermittently movable between the processing stations, and at its in the direction of travel front side has at least one stop surface, wherein the positioning means includes at least one pivotable in the movement path of the gripper carriage stop which is fixed to a driven pivot shaft.
  • Such sheet punching and embossing machines are known to be used in the manufacture of packaging to punch out of paper, cardboard or other packaging materials blanks, so-called benefits, from which folding cartons or similar packaging are produced later.
  • the known sheet-processing machines have means for feeding, singulating, applying, gripping, aligning, punching or embossing, breaking out the waste and depositing the benefits.
  • the sheet material, the z. B. is fed continuously from a stack, cyclically fed 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 carriages In order to be able to process the sheets correctly in the stations, the gripper carriages have, on their front side in the direction of travel, stop surfaces which are movable against a stop mounted in the machine frame.
  • the stop is mounted on a pivot shaft and can be pivoted into the path of movement of the gripper carriage.
  • the pivot shaft is driven by a further, attached to the pivot shaft lever and attached thereto, articulated linkage.
  • a sheet punching and embossing machine with a gripper device in which the detected sheets are transported by means of a gripper device intermittently from one processing station to the next.
  • the gripper carriages have abutment surfaces on the front side in the direction of travel, which serves for the exact positioning of the carriage in the direction of movement at the individual stations during the operation to be carried out by this station (eg punching, embossing or breaking out) of the gripper carriage against a stop surface as a pass and the stop itself referred to as a passport.
  • the positioning is accomplished by applying a stop wheel to the stop surface located at the left and right ends of the carriage which is rotatably supported on a pin.
  • the stop wheel acts as a stop.
  • the stop wheel is in turn held by a welded on a hollow shaft lever.
  • the hollow shaft is rotatably mounted within the processing station about its axis. In this case, the hollow shaft via a linkage construction, which is attached via a further lever on the hollow shaft, pivoted.
  • the lever with the stop wheel between a stop position and a second pivoted out of the path of movement of the gripper bar position is movable.
  • the stop roller is advantageously arranged so that it is as far outside 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 is rotatably suspended on a respective chain link about an axis parallel to the gripper carriage axis against spring force and guided by a roller in an independent of the chain track guideway. After striking the gripper carriage on the positioning and the braking of the chain, the gripper carriage is pressed by means of the spring force against the stop and thus positioned. After the operation to be performed in the station, the positioning device, that is, the lever located on the hollow shaft with the attached stop wheel pivots out of the path of movement of the gripper carriage and the gripper carriage can be moved by means of the driven chain in the next processing station.
  • the invention is therefore based on the object to simplify the mechanical effort for positioning of the gripper carriage in the processing station in such a way that a secure positioning at increased clock frequencies in the processing stations can be achieved.
  • the joints may also, in particular with respect to the blows when braking the gripper carriage, deflect and thus inaccuracies based on the position of the attack.
  • an electric motor requires less maintenance than a linkage equipped with joints.
  • the servomotor is attached directly to the positioning device.
  • the servomotor is also conceivable to integrate a gear in front of the servo motor, 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.
  • the side view shows a gripper carriage 1 and a processing station as a punching station 2, wherein the gripper carriage 1 abuts against 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 stop wheel 5 bearing lever 6 and a pivotable shaft 7, on which the lever 6 is fixed.
  • the pivot shaft 7 in turn is mounted in the side part of the machine frame 8.
  • On the pivot shaft 7 is an adapter flange 9 for mounting a gearbox or a direct mounting of an engine.
  • the servo motor is preferably mounted directly on the shaft 7 pivoting the stop.
  • a pivoting of the positioning device 4 would be possible by the use of the least mechanical means.
  • the dashed circles 10, 11 show the positions of the stop wheel 5 after pivoting in the direction of the gripper carriage 11 and the position of the stop wheel 5 against the direction of the gripper carriage 10th
  • the positioning device 4 can simultaneously be assigned a braking function. For this purpose, the positioning device 4 moves across the actual stop position associated with the processing station 2 and against the gripper carriage 1. Now drives the gripper carriage 1 in the processing station 2, the gripper carriage 1 hits before reaching the machining position on the positioning device 4. Taking advantage of the braking function of the servomotors of the gripper carriage 1 can now be decelerated.
  • the gripper carriage 1 exerts no or only a minimal impulse on the positioning device 4.
  • the mechanical energy of the gripper carriage 1 is received by the drive of the positioning device 4.
  • the normally occurring natural vibrations of the gripper carriage 1 when undamped impingement on the positioning device 4 are prevented.
  • This natural vibration behavior of the gripper carriage 1 when hitting the positioning device 4 usually leads to vibration-induced inaccuracies in the processing of the sheet, since the sheets are continuously conveyed.
  • the swing 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, the swing can be minimized and the processing speed of the sheet 14 can be substantially increased in the processing stations.
  • the gripper carriage 1 has at its leading ends at least one stop surface 3, against which the positioning device 4 acts.
  • the lever of the positioning device 4 is directly attached to the pivot shaft 7 and forms the pivot arm for the stop wheel 5.
  • the pivot shaft 7 is executed continuously and stored in both sides of the machine bed 8.
  • the gripper carriage 1 is equipped at the lateral ends with one stop surface 3 and one positioning device 4, so that the pivot shaft 7 moves two positioning devices 4 against two stop surfaces 3.
  • the positioning devices 4 are stored separately and equipped with separate, independent servomotors. During setup of the machine is thus given the opportunity to align the gripper carriage 1 individually.
  • the gripper carriage 1 is also shown only schematically. At the back in the direction of the end 12 of the gripper carriage 1, the gripper tongs 13 holds the sheet 14 in the processing station. 2
  • the sheets 14 are detected by the gripper tongs 13.
  • a sensor 15 is arranged in the conditioning station 16.
  • the sensor 15 is disposed over the sheet 14 and detects the position of the edge of the sheet.
  • the sensor can also be arranged on another position and, for example, detect a print mark on the sheet 14.
  • the gripper carriage 1 is accelerated and decelerated in the subsequent stations for editing again.
  • the respective positioning device 4 can then be actuated in the processing station and positioned in accordance with the determined data.
  • the sheet punching and embossing machine is thus capable of compensating for imperfections that have arisen during the gripping of the sheet 14 by means of a corresponding orientation of the positioning device 4.
  • the positioning device 4 Before retracting the equipped with the sheet 14 gripper carriage 1 in the processing station 2, the positioning device 4 moves to position 10. During the retraction of the gripper carriage 1 in the processing station 2 then reaches the front end 3 of the gripper carriage 1, the positioning device 4 at the position 10. The engine is in a braking function, so that the mechanical energy of the gripper carriage 1 via the front end 3 of the gripper carriage 1 and the stop wheel 5 and the lever 6 is transmitted to the pivot shaft 7 and thus to the servo motor. After reaching the processing station associated position of the gripper carriage 1 comes to a standstill. The position of the positioning device 4 and of the gripper carriage 1 shown in FIG. 1 reflects the state of the machine during the processing of the sheet.
  • the deviation is determined by means of a control loop in which the sensor 15 and the motor for actuating the register 4 are integrated a correction of the position of the positioning device 4 balanced.
  • a correction of the position of the sheet deviating from the desired coordinates is possible in as well as against the transport direction of the sheet 14, since the gripper carriage 1 is resiliently held against the stop 5 of the positioning device 4.
  • the illustrated sensor 15 operates as an opto-electrical means for detecting the edge of the sheet 14. However, it can also be any other non-contact sensor 15 (laser, optoelectronic means, CCD camera), for example, to detect the position of the print mark, are used.
  • the position of the sheets 14 can be realigned via the positioning devices 4. In this case, an alignment of the sheet 14 in the direction of the sheet 14 as well as a rotation of the sheet 14 is possible. Due to the separate storage of the positioning 4, the possibility is created to position the sheet 14 in the processing station 2 by forming the control loop consisting of sensor 15, control and drive, positionally correct.
  • each stop 5 is pivotable independently in as well as against the running direction.
  • a positioning device 4 is aligned against the running direction and the other positioning in the direction of travel. The sheet 14 is then machined aligned.
  • the register 4 pivots to position 11.
  • the path for the gripper carriage is clear and the sheet 14 moves to the next processing station.
  • the positioning device 4 moves back to the position 10 to brake the next gripper carriage 1.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Perforating, Stamping-Out Or Severing By Means Other Than Cutting (AREA)
  • Making Paper Articles (AREA)
  • Feeding Of Articles By Means Other Than Belts Or Rollers (AREA)
  • Registering Or Overturning Sheets (AREA)
  • Details Of Cutting Devices (AREA)
  • Punching Or Piercing (AREA)
  • Folding Of Thin Sheet-Like Materials, Special Discharging Devices, And Others (AREA)

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, wherein the gripper carriage gripper for Klemmén of sheet has limited resiliently attached to a transport chain and by means of the transport chain is intermittently movable between the processing stations, and at its in the direction of travel front side has at least one stop surface, wherein the positioning means includes at least one pivotable in the movement path of the gripper carriage stop which is fixed to a driven pivot shaft.

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 be used in the manufacture of packaging to punch out of paper, cardboard or other packaging materials blanks, so-called benefits, from which folding cartons or similar packaging are produced later.

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 means for feeding, singulating, applying, gripping, aligning, punching or embossing, breaking out the waste and depositing the benefits.
In such a machine, the sheet material, the z. B. is fed continuously from a stack, cyclically fed 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 correctly in the stations, the gripper carriages have, on their front side in the direction of travel, stop surfaces which are movable against a stop mounted in the machine frame. The stop is mounted on a pivot shaft and can be pivoted into the path of movement of the gripper carriage. In this case, the pivot shaft is driven by a further, attached to the pivot shaft lever and attached thereto, articulated linkage.

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 a sheet punching and embossing machine with a gripper device is known in which the detected sheets are transported by means of a gripper device intermittently from one processing station to the next. In this case, the gripper carriages have abutment surfaces on the front side in the direction of travel, which serves for the exact positioning of the carriage in the direction of movement at the individual stations during the operation to be carried out by this station (eg punching, embossing or breaking out) of the gripper carriage against a stop surface as a pass and the stop itself referred to as a passport.

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 is accomplished by applying a stop wheel to the stop surface located at the left and right ends of the carriage which is rotatably supported on a pin. The stop wheel acts as a stop. The stop wheel is in turn held by a welded on a hollow shaft lever. The hollow shaft is rotatably mounted within the processing station about its axis. In this case, the hollow shaft via a linkage construction, which is attached via a further lever on the hollow shaft, pivoted. Thus, the lever with the stop wheel between a stop position and a second pivoted out of the path of movement of the gripper bar position is movable.
The stop roller is advantageously arranged so that it is as far outside 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 is rotatably suspended on a respective chain link about an axis parallel to the gripper carriage axis against spring force and guided by a roller in an independent of the chain track guideway. After striking the gripper carriage on the positioning and the braking of the chain, the gripper carriage is pressed by means of the spring force against the stop and thus positioned. After the operation to be performed in the station, the positioning device, that is, the lever located on the hollow shaft with the attached stop wheel pivots out of the path of movement of the gripper carriage and the gripper carriage can be moved by means of the driven chain in 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 of the positioning is associated with high mechanical complexity.

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 invention is therefore based on the object to simplify the mechanical effort for positioning of the gripper carriage in the processing station in such a way that a secure positioning at increased clock frequencies in the processing stations can be achieved.

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 according to claim 1, characterized in that at least one electrically operated, controllable servo motor is used as a pivot drive of the stop, which is connected directly to the pivot shaft. This offers the advantage that it is possible to dispense with the mechanically expensive linkage drives which are usually used for setting and actuating the positioning device.

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 may also, in particular with respect to the blows when braking the gripper carriage, deflect and thus inaccuracies based on the position of the attack. As a further advantage, an electric motor requires 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 results from the use of electrically driven, variable speed motors is that the position of the stopper can be corrected at any point in the machine setup. For mechanical drives a once set stop position can only be changed by means of an adjustment of adjusting or adjusting screws, which usually covers must be removed, which in turn follows a high mechanical and temporal effort. On the other hand, there is the setting of the position of the stop by the electric drive, which can be changed at any time, by means of the motor control and without having to intervene in the mechanics of the machine.

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.Preferably, the servomotor is attached directly to the positioning device. Depending on the engine size and occurring dynamic forces in relation to the gripper carriage, it is also conceivable to integrate a gear in front of the servo motor, 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, a preferred embodiment of a positioning device according to the invention for a gripper carriage is shown.

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.

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.In the figure 1, the preferred embodiment variant of the invention is shown. The side view shows a gripper carriage 1 and a processing station as a punching station 2, wherein the gripper carriage 1 abuts against 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 stop wheel 5 bearing lever 6 and a pivotable shaft 7, on which the lever 6 is fixed. The pivot shaft 7 in turn is mounted in the side part of the machine frame 8.
On the pivot shaft 7 is an adapter flange 9 for mounting a gearbox or a direct mounting of an engine. The servo motor is preferably mounted directly on the shaft 7 pivoting the stop. Thus, a pivoting of the positioning device 4 would be possible by the use of the least 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 dashed circles 10, 11 show the positions of the stop wheel 5 after pivoting in the direction of the gripper carriage 11 and the position of the stop wheel 5 against the 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 swiveling range 10, 11 of the positioning device 4 is widened, so that it can be swiveled beyond the stop or setpoint position associated with the processing station 2, the positioning device 4 can simultaneously be assigned a braking function. For this purpose, the positioning device 4 moves across the actual stop position associated with the processing station 2 and against the gripper carriage 1. Now drives the gripper carriage 1 in the processing station 2, the gripper carriage 1 hits before reaching the machining position on the positioning device 4. Taking advantage of the braking function of the servomotors of the gripper carriage 1 can now be decelerated.

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 exerts no or only a minimal impulse on the positioning device 4. The mechanical energy of the gripper carriage 1 is received by the drive of the positioning device 4. The normally occurring natural vibrations of the gripper carriage 1 when undamped impingement on the positioning device 4 are prevented. This natural vibration behavior of the gripper carriage 1 when hitting the positioning device 4 usually leads to vibration-induced inaccuracies in the processing of the sheet, since the sheets are continuously conveyed.

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, the swing can be minimized and the processing speed of the sheet 14 can be substantially increased in the processing stations.

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 its leading ends at least one stop surface 3, against which the positioning device 4 acts. The lever of the positioning device 4 is directly attached to the pivot shaft 7 and forms the pivot arm for the stop wheel 5. Here, the pivot shaft 7 is executed continuously and stored in both sides of the machine bed 8. Preferably, the gripper carriage 1 is equipped at the lateral ends with one stop surface 3 and one positioning device 4, so that the pivot shaft 7 moves two positioning devices 4 against two stop surfaces 3.

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 are stored separately and equipped with separate, independent servomotors. During setup of the machine is thus given the opportunity 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. At the back in the direction of the end 12 of the gripper carriage 1, the gripper tongs 13 holds the 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 conditioning station 16, the sheets 14 are detected by the gripper tongs 13. In order to determine the orientation of the sheet 14 in relation to the gripper carriage 1, a sensor 15 is arranged in the conditioning station 16. The sensor 15 is disposed over the sheet 14 and detects the position of the edge of the sheet. In a further refinement variant, the sensor can also be arranged on another position and, for example, detect a print mark on the sheet 14.
Subsequently, the gripper carriage 1 is accelerated and decelerated in the subsequent stations for editing again. 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 actuated in the processing station and positioned in accordance with the determined data. The sheet punching and embossing machine is thus capable of compensating for imperfections that have arisen during the gripping of the sheet 14 by means of a corresponding orientation 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 equipped with the sheet 14 gripper carriage 1 in the processing station 2, the positioning device 4 moves to position 10. During the retraction of the gripper carriage 1 in the processing station 2 then reaches the front end 3 of the gripper carriage 1, the positioning device 4 at the position 10. The engine is in a braking function, so that the mechanical energy of the gripper carriage 1 via the front end 3 of the gripper carriage 1 and the stop wheel 5 and the lever 6 is transmitted to the pivot shaft 7 and thus to the servo motor. After reaching the processing station associated position of the gripper carriage 1 comes to a standstill. The position of the positioning device 4 and of the gripper carriage 1 shown in FIG. 1 reflects the state of the machine during the processing of the sheet.

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.If the sensor 15 has determined a deviation between the desired and actual coordinates of the sheet 14, the deviation is determined by means of a control loop in which the sensor 15 and the motor for actuating the register 4 are integrated a correction of the position of the positioning device 4 balanced. A correction of the position of the sheet deviating from the desired coordinates is possible in as well as against the transport direction of the sheet 14, since the gripper carriage 1 is resiliently held against the stop 5 of the positioning device 4. The illustrated sensor 15 operates as an opto-electrical means for detecting the edge of the sheet 14. However, it can also be any other non-contact sensor 15 (laser, optoelectronic means, CCD camera), for example, to detect the position of the print mark, are used.

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 during the adjustment of the desired and actual coordinates, the position of the sheets 14 can be realigned via the positioning devices 4. In this case, an alignment of the sheet 14 in the direction of the sheet 14 as well as a rotation of the sheet 14 is possible. Due to the separate storage of the positioning 4, the possibility is created to position the sheet 14 in the processing station 2 by forming the control loop consisting of sensor 15, control and drive, positionally correct.

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, then each stop 5 is pivotable independently in as well as against the running direction.
In the case in which a sheet 14 was detected twisted by the gripper carriage 1, thus the possibility is created to align the sheet 14 in the processing station on the positioning means 4. For this purpose, a positioning device 4 is aligned against the running direction and the other positioning in the direction of travel. The sheet 14 is then 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 machining the sheet 14, the register 4 pivots to position 11. Thus, the path for the gripper carriage is clear and the sheet 14 moves to the next processing station. Then the positioning device 4 moves back to the position 10 to brake the next gripper carriage 1.

Claims (4)

  1. A sheet punching and embossing machine with a gripper carriage (1) and a positioning device (4) for the gripper carriages (1),
    - the gripper carriage (1) having grippers (13) for clamping sheets (14), being fixed with limited springing to a transport chain and being movable intermittently between the processing stations (2) via the transport chain, and having at least one stop face (3) on its leading side in a running direction,
    - the positioning device (4) containing at least a stop (5) pivotable into the movement path of the gripper carriage (1), the stop being attached to a driven pivoting shaft,
    characterized in that
    at least an electrically operated, controllable servomotor is used as a pivoting drive, the servomotor being connected directly to the pivoting shaft.
  2. The positioning device according to claim 1, characterized in that the stop (5) of the positioning device (4) is mounted so as to be pivotable counter to the running direction of the gripper carriage and beyond the stop position belonging to the processing station (2).
  3. The positioning device according to one of claims 1 and 2, characterized in that the positioning device (4) is provided with at least two stops (5) separately mounted and that each stop (5) is driven by a separate servomotor.
  4. The positioning device according to one of claims 1 to 3, characterized in that the processing station (2) is provided with sensors (15) operating without contact for detecting the position of the sheet (14), and that the sensors (15) are in closed-loop control 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

Publications (2)

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

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EP03009871A Expired - Lifetime EP1371588B1 (en) 2002-06-10 2003-05-14 Positioning device for gripper bar of machine for punching and embossing sheets

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US (1) US6866262B2 (en)
EP (1) EP1371588B1 (en)
JP (1) JP4406220B2 (en)
AT (1) ATE339380T1 (en)
DE (2) DE10225647A1 (en)
ES (1) ES2271418T3 (en)

Cited By (3)

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Publication number Priority date Publication date Assignee Title
EP2014589A2 (en) 2007-07-09 2009-01-14 Heidelberger Druckmaschinen Aktiengesellschaft Sheet-fed punching and embossing machine and method for sheet alignment
DE102009058591A1 (en) 2009-12-17 2011-06-22 Heidelberger Druckmaschinen AG, 69115 Sheet pressing and/or punching machine for punching of e.g. paper sheet utilized for packing product, has guide webs differentiated in curvature characteristics in area of punching station, pulling station and cantilever arm
EP2407402A2 (en) 2010-07-14 2012-01-18 Heidelberger Druckmaschinen AG Device and method for positioning sheets

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TWI261042B (en) * 2003-10-08 2006-09-01 Bobst Sa Working station of a machine processing plate elements
CN100349739C (en) * 2004-05-05 2007-11-21 鲍勃斯脱股份有限公司 Device for successively transporting sheets in a platen press
DE202007012349U1 (en) * 2006-07-26 2007-12-13 Heidelberger Druckmaschinen Ag Sheet punching and embossing machine with register alignment
DE102009008112A1 (en) 2009-02-09 2010-08-12 Heidelberger Druckmaschinen Ag Method of transferring sheets
CN103895258A (en) * 2014-03-13 2014-07-02 苏俊岳 Paper board indenting machine with improved feeding mechanism
CN104552416B (en) * 2015-01-16 2016-05-04 邹平 The gripper device of high frequency die-cutting machine
US20210213638A1 (en) * 2018-06-19 2021-07-15 Lumileds Holding B.V. Strapping cutter
DE102019128979A1 (en) * 2019-10-28 2021-04-29 Koenig & Bauer Ag Sheet processing machine with a transport system designed as a chain gripper system and a method for aligning at least one chain gripper carriage
US11752539B2 (en) 2020-01-27 2023-09-12 Panduit Corp. Embossing system

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Publication number Priority date Publication date Assignee Title
EP2014589A2 (en) 2007-07-09 2009-01-14 Heidelberger Druckmaschinen Aktiengesellschaft Sheet-fed punching and embossing machine and method for sheet alignment
DE102007031848A1 (en) 2007-07-09 2009-01-15 Heidelberger Druckmaschinen Ag Sheet punching and embossing machine and sheet alignment method
DE102009058591A1 (en) 2009-12-17 2011-06-22 Heidelberger Druckmaschinen AG, 69115 Sheet pressing and/or punching machine for punching of e.g. paper sheet utilized for packing product, has guide webs differentiated in curvature characteristics in area of punching station, pulling station and cantilever arm
EP2407402A2 (en) 2010-07-14 2012-01-18 Heidelberger Druckmaschinen AG Device and method for positioning sheets
DE102010027119A1 (en) 2010-07-14 2012-01-19 Heidelberger Druckmaschinen Ag Method and device for positioning sheets

Also Published As

Publication number Publication date
DE50305008D1 (en) 2006-10-26
JP4406220B2 (en) 2010-01-27
JP2004025871A (en) 2004-01-29
US20030227128A1 (en) 2003-12-11
ATE339380T1 (en) 2006-10-15
US6866262B2 (en) 2005-03-15
EP1371588A1 (en) 2003-12-17
DE10225647A1 (en) 2003-12-24
ES2271418T3 (en) 2007-04-16

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