EP2017080A2 - Gripper element for a sheet fed printing press - Google Patents
Gripper element for a sheet fed printing press Download PDFInfo
- Publication number
- EP2017080A2 EP2017080A2 EP08009317A EP08009317A EP2017080A2 EP 2017080 A2 EP2017080 A2 EP 2017080A2 EP 08009317 A EP08009317 A EP 08009317A EP 08009317 A EP08009317 A EP 08009317A EP 2017080 A2 EP2017080 A2 EP 2017080A2
- Authority
- EP
- European Patent Office
- Prior art keywords
- gripper
- carriage
- sheet
- gripper system
- actuators
- 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.)
- Withdrawn
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41F—PRINTING MACHINES OR PRESSES
- B41F21/00—Devices for conveying sheets through printing apparatus or machines
- B41F21/04—Grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41F—PRINTING MACHINES OR PRESSES
- B41F21/00—Devices for conveying sheets through printing apparatus or machines
- B41F21/08—Combinations of endless conveyors and grippers
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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
- B65H29/041—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 and introducing into a pile
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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
- B65H29/045—Details of grippers
- B65H29/047—Gripper opening devices
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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
- B65H2220/00—Function indicators
- B65H2220/09—Function indicators indicating that several of an entity are present
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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
- B65H2555/00—Actuating means
- B65H2555/10—Actuating means linear
- B65H2555/11—Actuating means linear pneumatic, e.g. inflatable elements
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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
- B65H2555/00—Actuating means
- B65H2555/10—Actuating means linear
- B65H2555/13—Actuating means linear magnetic, e.g. induction motors
Definitions
- the invention relates to a gripper system for a sheet-fed printing machine for carrying out the transfer of an arcuate printing material at least along a portion of the total traversed by the respective printing sheet sheet travel path.
- the invention is directed to a gripper system which is connected to a running as a chain or timing belt and circulating along a closed Wergopfads traction and by which the substrate between the printing units, or in a downstream of the printing units area is transferred to the area of sheet deposition.
- Out DE 203 13 394 U1 is a boom for a sheet-fed press known which comprises a gripper chain device to which equally spaced a plurality of gripper systems are connected. About the respective gripper system a tapped from the upstream printing unit sheet can be passed through a drying station and a powdering station. The path of the gripper chain device is determined by a gripper chain guide which typically comprises a plurality of deflection zones. The distance between these deflection zones can be dimensioned so large that the guided along the gripper system path arc is fully extended in phases.
- the invention has for its object to provide solutions by which, with respect to the mechanical performance of gripper systems, and in particular with regard to the space requirements of the gripper systems, advantages over previous designs can be achieved.
- the gripper actuator device can be designed such that the grippers integrated in the respective gripper carriages can be brought into the open state or into the closed state individually or in defined groups.
- each gripper finger is associated with an actuator.
- This actuator can then be designed so that the actuating forces generated by this are matched only to the actuating force requirement of the individual gripper finger, so that relatively small-sized, highly rigid actuators can be realized in this respect.
- the gripper carriage is preferably designed as a flat structure according to a particular aspect of the present invention.
- This flat structure may in particular be made of an aluminum extruded material or another Holmaterial, which is characterized by a high rigidity at relatively low weight. It is possible to make the gripper carriage so flat or heavy that its normal, i. Height measured perpendicular to the track substantially corresponds only to the measured also normal to the gripper carriage track chain width. It is also possible to manufacture the gripper carriage made of a highly rigid lightweight material, in particular a fiber-reinforced Kunnststoffmaterial, especially coal, Kevlar, or aramid fiber reinforced plastic composite material.
- the gripper actuator device comprises an electromechanical actuator.
- This electromechanical actuator can be realized in particular with the inclusion of an electromagnet.
- a piezoelectric structure ie a crystal structure, by which a required travel is brought about piezoelectric way.
- several piezoelectric elements can be arranged in a layered manner.
- the introduction of the Aktuatorbetör concerns the introduction of the Aktuatorbetörs energie is preferably carried out while avoiding load fluctuations in the gripper chain train.
- the introduction of the Aktuatorbetör concerns concerns the introduction of the Aktuatorbetörsonsenergie can be done by inductive means or possibly also by sliding contact structures.
- a switching device in the respective gripper carriage, by means of which the control of the individual grippers of the respective gripper system, which is highly precise in terms of timing, coordinated or synchronized with the machine run, is signal-wise initiated. It is thus possible, on the one hand, to ensure a corresponding energy supply of the actuators in the area of the gripper carriages and, on the other hand, to make the activation of these actuators dependent on specific control signals, which are coupled into the gripper carriage area via an interface device.
- This interface device can be arranged so that it is located at a position that allows signal transmission to the engaged in the gripper carriage switching device, when the gripper is in an actuation-relevant position.
- Such interface devices are then arranged in the region of the Bogenaufgriffs, as well as in the sheet storage area. Furthermore, it is also possible to arrange a corresponding interface device in a track section suitable for taking a test sheet, which as such makes it possible to open the grippers at this special location.
- the actuation of the actuators can be carried out by a control device which is located directly in the region of a boom or provided for the drive of the boom control cabinet. Otherwise, it is also possible to cause the actuation of the actuators from a machine control center.
- FIG. 1 shows very simplified the end of a boom of a sheetfed press.
- This boom comprises a plurality of gripper carriage 1, which is connected to a Gripper chain 2 are connected and thus in a conventional manner along the gripper chain path are movable.
- each gripper carriage 1 a plurality of grippers 3 are included, each comprising a gripper finger 4 and a gripper extension section 5, wherein the gripper fingers 4 can be brought into an open state for introducing or releasing a sheet B, wherein a seat surface K is provided by the gripper opening portion 5, on which can be clamped by the gripper finger 4 of the respective réellebenderde sheet B.
- the gripper system according to the invention is characterized in that one or more gripper actuator devices 6 are integrated into the respective gripper carriage 1, wherein this gripper actuator device 6 is designed such that the associated gripper 3 can be individually activated by it.
- the kinematic guidance of the gripper fingers is designed in such a way that preferably no bow pushing occurs.
- the gripper actuator 6 is designed such that the hooks incorporated into the gripper carriage 1 can be brought into the open state in defined groups by means of these grippers.
- the control of the gripper system 1 shown here is carried out by a zoom guided to the gripper running actuator 7.
- the actuator 7 is executed in this embodiment as a coil system having a plurality of coil cores 8, said coil core 8 associated windings can be controlled via a control unit C.
- about these coil assemblies 8 it is possible to provide the required for the operation of the gripper carriage 1 gripper required actuation energy in an inductive or electromagnetic manner.
- the control of the integrated in the gripper carriage 1 actuators 6 by the controller C is carried out such that the picked up by the gripper carriage sheet B is released at a programmatically predetermined delivery position.
- a detection device 9 is provided, via which the position of the gripper carriage 1 or in particular the position of the front transverse edge of the sheet B can be detected.
- the instantaneous rotational phase position of the boom or running position of the gripper carriage 1 can be detected via a signal pick-up device 10. If the gripper carriage 1 is located at the corresponding delivery location in the area of the activation device 7, then a corresponding opening of the gripper integrated into the gripper carriage 1 takes place via this activation device 7.
- the entire control of the arm illustrated here, equipped with actuators integrated into the gripper carriage 1, can furthermore also be coordinated by a machine control station L.
- FIG. 2 is shown greatly simplified an exemplary structure of a gripper system according to the invention.
- This gripper system comprises a gripper carriage 1 with articulated thereto articulated fingers 4.
- the articulation of the gripper fingers 4 takes place here by way of example by a plug-in axis 12 through which the gripper fingers 4 is pivotally mounted in the gripper carriage 1.
- the gripper fingers 4 are urged by a spring device 13 shown here merely simplified in a closed position in which the Greiferfingerspitzen Scheme 4a clamps a suitably picked sheet on the provided by the impact section 5 clamping surface K.
- the opening of the gripper system shown here can be done by a arranged in the immediate vicinity of the running path of this gripper carriage 1 coil device 14 is controlled by the control device C.
- the magnetic field built up by the coil device 14 can cause magnetization of a yoke structure 15 indicated here, so that the gripper finger 4 partially received in this yoke structure 15 dips into the yoke device 15 against the biasing force applied by the spring device 13.
- the gripper 3 is opened and a sheet clamped on the clamping surface K can be pulled out of the sheet clamping area defined between the gripper finger tip section 4 a and the impact section 5.
- a corresponding actuating device is preferably also arranged in the region of the engagement positions.
- the gripper system in such a way that it can be operated both electromechanically and mechanically Paths is controlled, so that, for example, the operation of the gripper system in the space provided for receiving a sheet path section is purely mechanical, being initiated against the delivery of the sheet from the gripper system actuator-controlled.
- This actuator-controlled sheet output can be accomplished in such a way that in the area of the display, special stack patterns, in particular hurdle or packet displays, can be realized by setting the dispensing positions differently by setting the opening times of the gripper system for specific numbers of sheets.
- the gripper system according to the invention is particularly suitable for the acquisition of the sheet from the last printing or coating unit and for transporting these sheets by the boom for display.
- the grippers serve to provide the holding force required for the sheet transport.
- the grippers are connected to actuators, wherein preferably a plurality of such actuators are distributed over the length of the respective gripper carriage. To open or close the gripper these actuators are driven accordingly.
- the inventive concept makes it possible to realize gripper carriages with an extremely low overall height. As a result, the turbulence during transport of the sheet is counteracted by the boom a poor drying and powdering process.
- the construction height of the system can be reduced.
- dryers and pollinators can be brought closer to the bow.
- parts can account for the gripper opening curve and its actuators. It is possible regardless of the opening time constant ramp for the gripper opening.
- the cyclically recurring adjustment effort of the gripper can be omitted. Vibrations are avoided.
- the grippers in the gripper carriage are opened individually or in groups via actuators (eg by piezoelectric effect, magnetic, mechanical, pneumatic).
- the energy for the actuators is provided by an inductive principle, sliding contacts, energy storage (Accumulator, condenser, pneumatic pressure accumulator) introduced into the gripper system.
- Corresponding guide structures can be designed in particular as Umlenkgleit Entryen, or pulleys. It is also possible to form these guide or support structures as support rollers with radially outwardly projecting support fingers connected thereto which radially support the gripper carriage in the area of the sheet transfer and preferably dive into catch recesses which are formed on the gripper carriage.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Feeding Of Articles By Means Other Than Belts Or Rollers (AREA)
- Supply, Installation And Extraction Of Printed Sheets Or Plates (AREA)
- Discharge By Other Means (AREA)
Abstract
Description
Die Erfindung betrifft ein Greifersystem für eine Bogendruckmaschine zur Abwicklung des Transfers eines bogenförmigen Bedruckstoffs zumindest entlang eines Abschnitts des insgesamt von dem jeweiligen Druckbogen durchlaufenen Bogenlaufpfades. Insbesondere richtet sich die Erfindung hierbei auf ein Greifersystem das an ein als Kette oder Zahnriemen ausgeführtes und entlang eines geschlossenen Zugmittelpfads umlaufendes Zugmittel angebunden ist und durch welches der Bedruckstoff zwischen den Druckwerken, oder in einem den Druckwerken nachgeordneten Bereich in den Bereich der Bogenablage transferiert wird.The invention relates to a gripper system for a sheet-fed printing machine for carrying out the transfer of an arcuate printing material at least along a portion of the total traversed by the respective printing sheet sheet travel path. In particular, the invention is directed to a gripper system which is connected to a running as a chain or timing belt and circulating along a closed Zugmittelpfads traction and by which the substrate between the printing units, or in a downstream of the printing units area is transferred to the area of sheet deposition.
Aus
Schließlich ist in Helmut Teschner, Offsetdrucktechnik, 1989, Fachschriften-Verlag GmbH; ISBN 3-921217-14-8 auf Seite 466 ein Ausleger beschrieben welcher eine Non-Stop Auslage der über eine Greiferketteneinrichtung zugeführten Bogen ermöglicht und ebenfalls Greifersysteme umfasst die an eine Greiferkette angebunden sind.Finally, in Helmut Teschner, offset printing technology, 1989, Fachschriften-Verlag GmbH; ISBN 3-921217-14-8 on page 466 describes a boom which allows a non-stop delivery of the supplied via a gripper chain means sheet and also comprises gripper systems which are connected to a gripper chain.
Der Erfindung liegt die Aufgabe zugrunde, Lösungen zu schaffen durch welche hinsichtlich des mechanischen Betriebsverhaltens von Greifersystemen, sowie insbesondere hinsichtlich des Bauraumbedarfes der Greifersysteme, Vorteile gegenüber bisherigen Bauweisen erreicht werden können.The invention has for its object to provide solutions by which, with respect to the mechanical performance of gripper systems, and in particular with regard to the space requirements of the gripper systems, advantages over previous designs can be achieved.
Diese Aufgabe wird erfindungsgemäß gelöst durch ein Greifersystem zum Aufgriff eines bogenförmigen Bedruckstoffes und zur Bewerkstelligung des Transfers dieses Bedruckstoffes entlang einer Bogenlaufbahn, mit:
- einem Greiferwagen,
- mehreren in den Greiferwagen eingebundenen und voneinander beabstandeten Greifern mit einem Greiferfinger und einem Greiferaufschlagsabschnitt, wobei die Greiferfinger in einen Öffnungszustand zur Einbringung oder zur Freigabe eines Bogens, sowie in einen Schließzustand zur Fixierung eines aufgegriffenen Bogens bringbar sind, und durch den Greiferaufschlagabschnitt jeweils eine Sitzfläche bereitgestellt ist,
- wobei sich dieses Greifersystem dadurch auszeichnet, dass in den jeweiligen Greiferwagen mehrere Greiferaktuatoreinrichtungen eingebunden sind, wobei diese Greiferaktuatoreinrichtungen derart ausgebildet sind, dass durch diese die Greifer einzeln aktivierbar sind.
- a gripper carriage,
- a plurality of grippers incorporated in the gripper carriage and spaced from each other with a gripper finger and a Greiferaufschlagsabschnitt, wherein the gripper fingers are brought into an open state for insertion or release of a sheet, as well as in a closed state for fixing a picked-up sheet, and provided by the gripper opening portion each have a seat is
- wherein this gripper system is characterized in that in the respective gripper carriage more Greiferaktuatoreinrichtungen are involved, said Greiferaktuatoreinrichtungen are designed such that by these the grippers are individually activated.
Dadurch wird es auf vorteilhafte Weise möglich, ein Greifersystem für eine bogenverarbeitende Maschine, insbesondere für den Ausleger einer Bogendruckmaschine zu schaffen, das gegenüber bisherigen Greifersystemen äußerst flachbauend und mit geringer Eigenmasse realisiert werden kann. Dadurch wird es möglich, die Strömungswirbelbildung im Bereich der Greiferwagen zu reduzieren. Zusätzlich können Trockner und Bestäuber näher an den Bogen gebracht werden. Weiterhin können gegebenenfalls Teile wie Greiferöffnungskurven und deren Stellantriebe entfallen. Es ist möglich, durch das erfindungsgemäße Konzept unabhängig vom Öffnungszeitpunkt gleichbleibende Anlauframpen bei der Greiferöffnung zu realisieren. Weiterhin wird es in vorteilhafter Weise möglich, sogenannte "Klaviereffekte", wie sie bei konventionellen Greifersystemen auftreten, zu vermeiden. Auch der Einstellaufwand der Greifer wird reduziert.This makes it possible in an advantageous manner to provide a gripper system for a sheet-processing machine, in particular for the boom of a sheet-fed press, which can be realized extremely flat construction and low net mass compared to previous gripper systems. This makes it possible to reduce the flow vortex formation in the region of the gripper carriage. In addition, dryers and pollinators can be brought closer to the bow. Furthermore, parts such as gripper opening curves and their actuators can optionally be omitted. It is possible to realize by the inventive concept, regardless of the opening time consistent starting ramps in the gripper opening. Furthermore, it is possible in an advantageous manner, so-called "piano effects", as they occur in conventional gripper systems to avoid. The adjustment effort of the gripper is reduced.
Die Greifer-Aktuatoreinrichtung kann so ausgebildet sein, dass die in den jeweiligen Greiferwagen eingebundenen Greifer einzeln oder in definierten Gruppen in den Öffnungszustand oder in den Schließzustand bringbar sind.The gripper actuator device can be designed such that the grippers integrated in the respective gripper carriages can be brought into the open state or into the closed state individually or in defined groups.
Es ist möglich, das Greifersystem so aufzubauen, dass jedem Greiferfinger ein Aktuator zugeordnet ist. Dieser Aktuator kann dann so gestaltet sein, dass die durch diesen generierten Stellkräfte nur auf den Stellkraftbedarf des einzelnen Greiferfingers abgestimmt sind, sodass sich insoweit relativ kleinbauende, hochsteife Aktuatoren realisieren lassen.It is possible to construct the gripper system so that each gripper finger is associated with an actuator. This actuator can then be designed so that the actuating forces generated by this are matched only to the actuating force requirement of the individual gripper finger, so that relatively small-sized, highly rigid actuators can be realized in this respect.
Der Greiferwagen ist gemäß einem besonderen Aspekt der vorliegenden Erfindung vorzugsweise als Flachstruktur ausgebildet. Diese Flachstruktur kann insbesondere aus einem Aluminium-Strangpressmaterial oder einem anderweitigen Holmaterial gefertigt sein, das sich durch eine hohe Steifigkeit bei relativ geringem Eigengewicht auszeichnet. Es ist möglich, den Greiferwagen derart flach oder schwertartig auszubilden, dass dessen normal, d.h. senkrecht zur Laufbahn gemessene Höhe im wesentlichen lediglich der ebenfalls normal zur Greiferwagenlaufbahn gemessenen Kettenbreite entspricht. Es ist auch möglich, den Greiferwagen aus einem hochsteifen Leichtmaterial, insbesondere einem faserverstärkten Kunnststoffmaterial, insbesondere Kohle-, Kevlar-, oder Aramidfaserverstärkten Kunststoffaserverbundwerkstoff zu fertigen.The gripper carriage is preferably designed as a flat structure according to a particular aspect of the present invention. This flat structure may in particular be made of an aluminum extruded material or another Holmaterial, which is characterized by a high rigidity at relatively low weight. It is possible to make the gripper carriage so flat or heavy that its normal, i. Height measured perpendicular to the track substantially corresponds only to the measured also normal to the gripper carriage track chain width. It is also possible to manufacture the gripper carriage made of a highly rigid lightweight material, in particular a fiber-reinforced Kunnststoffmaterial, especially coal, Kevlar, or aramid fiber reinforced plastic composite material.
Gemäß einem besonderen Aspekt der vorliegenden Erfindung umfasst die Greifer-Aktuatoreinrichtung einen elektromechanischen Aktuator. Dieser elektromechanische Aktuator kann insbesondere unter Einschluss eines Elektromagneten realisiert sein. Alternativ hierzu, oder auch in Kombination mit dieser Maßnahme ist es möglich, den elektromechanischen Aktuator unter Einbindung einer Piezostruktur, d.h. einer Kristallstruktur zu realisieren, durch welche ein erforderlicher Stellweg auf Piezo-elektrischem Wege herbeigeführt wird. Zur Realisierung großer Hubwege können mehrere Piezoelemente in Reihe geschichtet angeordnet sein.According to a particular aspect of the present invention, the gripper actuator device comprises an electromechanical actuator. This electromechanical actuator can be realized in particular with the inclusion of an electromagnet. Alternatively, or in combination with this measure, it is possible to realize the electromechanical actuator with the involvement of a piezoelectric structure, ie a crystal structure, by which a required travel is brought about piezoelectric way. To realize large strokes several piezoelectric elements can be arranged in a layered manner.
Es ist auch möglich, die erfindungsgemäße Greifer-Aktuatoreinrichtung durch einen pneumatischen Aktuator, insbesondere Stellzylinder oder Membranzylinder zu realisieren.It is also possible to realize the gripper actuator device according to the invention by a pneumatic actuator, in particular actuating cylinder or diaphragm cylinder.
Die Einbringung der Aktuatorbetätigungsenergie erfolgt vorzugsweise unter Vermeidung von Lastschwankungen im Greiferkettenzug. Bei der Realisierung der Aktuatoreinrichtung als elektromechanischen Aktuator kann die Einbringung der Aktuatorbetätigungsenergie auf induktivem Wege oder gegebenenfalls auch durch Schleifkontaktstrukturen erfolgen.The introduction of the Aktuatorbetätigungsenergie is preferably carried out while avoiding load fluctuations in the gripper chain train. In the realization of the actuator device as an electromechanical actuator, the introduction of the Aktuatorbetätigungsenergie can be done by inductive means or possibly also by sliding contact structures.
Es ist möglich, in den jeweiligen Greiferwagen eine Schalteinrichtung einzubinden, durch welche die mit dem Maschinenlauf zeitlich hochpräzise, abgestimmte bzw. synchronisierte Ansteuerung der einzelnen Greifer des jeweiligen Greifersystems auf signaltechnischem Wege veranlasst wird. So ist es möglich, einerseits im Bereich der Greiferwagen eine entsprechende Energieversorgung der Aktuatoren sicherzustellen, andererseits die Aktivierung dieser Aktuatoren von bestimmten Steuersignalen abhängig zu machen, die über eine Schnittstelleneinrichtung in den Bereich des Greiferwagens eingekoppelt werden. Diese Schnittstelleneinrichtung kann so angeordnet sein, dass sich diese an einer Position befindet, die eine Signalübertragung zu der in den Greiferwagen eingebundenen Schalteinrichtung dann ermöglicht, wenn sich der Greifer in einer betätigungsrelevanten Position befindet. Typischerweise sind derartige Schnittstelleneinrichtungen dann im Bereich des Bogenaufgriffs, sowie im Bereich der Bogenablage angeordnet. Weiterhin ist es möglich, auch in einem zur Entnahme eines Probebogens geeigneten Bahnabschnitt eine entsprechende Schnittstelleneinrichtung anzuordnen, die als solche die Öffnung der Greifer an dieser speziellen Stelle ermöglicht. Die Ansteuerung der Aktuatoren kann durch eine Steuereinrichtung erfolgen, die sich unmittelbar im Bereich eines Auslegers oder eines für den Antrieb des Auslegers vorgesehenen Steuerschrank befindet. Ansonsten ist es auch möglich, die Ansteuerung der Aktuatoren von einem Maschinenleitstand aus zu veranlassen. Es ist möglich, die Ansteuerung dieser Aktuatoren so zu bewerkstelligen, dass eine für einen zumindest schädigungsfreien Notbetrieb geeignete Ansteuerung dieser Aktuatoren auch durch eine Notschaltung erreicht werden kann, durch welche beispielsweise die erfindungsgemäßen Greifer geöffnet werden, wenn sich die Greiferwagen in einer Position befinden, die letztmalig einen reibungslosen Abwurf der aufgegriffenen Bogen ermöglichen.It is possible to incorporate a switching device in the respective gripper carriage, by means of which the control of the individual grippers of the respective gripper system, which is highly precise in terms of timing, coordinated or synchronized with the machine run, is signal-wise initiated. It is thus possible, on the one hand, to ensure a corresponding energy supply of the actuators in the area of the gripper carriages and, on the other hand, to make the activation of these actuators dependent on specific control signals, which are coupled into the gripper carriage area via an interface device. This interface device can be arranged so that it is located at a position that allows signal transmission to the engaged in the gripper carriage switching device, when the gripper is in an actuation-relevant position. Typically, such interface devices are then arranged in the region of the Bogenaufgriffs, as well as in the sheet storage area. Furthermore, it is also possible to arrange a corresponding interface device in a track section suitable for taking a test sheet, which as such makes it possible to open the grippers at this special location. The actuation of the actuators can be carried out by a control device which is located directly in the region of a boom or provided for the drive of the boom control cabinet. Otherwise, it is also possible to cause the actuation of the actuators from a machine control center. It is possible to accomplish the actuation of these actuators in such a way that a control of these actuators which is suitable for at least damage-free emergency operation can also be achieved by means of an emergency circuit, by means of which, for example, the Grippers according to the invention are opened when the gripper carriage are in a position that allow the last time a smooth discharge of the picked-up bow.
Es ist möglich, die Ansteuerung der Aktuatoren unter Erfassung einer Bogenquerkantenposition vorzunehmen. Hierdurch wird es möglich, eine besonders präzise Ablage durch Ansteuerung der erfindungsgemäßen Aktuatoren unter Berücksichtigung des für jeden Bogen erfassten Aufgriffs in dem Greifersystem vorzunehmen. Durch das erfindungsgemäße Konzept wird es auch möglich, im Bereich der Auslage eine Hürdenablage oder Päckchenablage zu realisieren, wobei die entsprechende Ablage der Bogen lediglich durch entsprechende signaltechnische Ansteuerung der erfindungsgemäßen Greiferwagen bzw. der in diese eingebundenen elektromechanisch betätigbaren Aktuatoren realisiert werden kann.It is possible to carry out the actuation of the actuators while detecting a curved transverse edge position. This makes it possible to make a particularly precise storage by controlling the actuators according to the invention, taking into account the recorded for each sheet Aufgriffs in the gripper system. The concept according to the invention also makes it possible to realize a hurdle deposit or packet deposit in the area of the delivery, wherein the corresponding storage of the sheets can be realized only by appropriate signaling control of the gripper carriages according to the invention or the electromechanically operable actuators incorporated therein.
Weitere Einzelheiten und Merkmale der Erfindung ergeben sich aus der nachfolgenden Beschreibung in Verbindung mit der Zeichnung. Es zeigt:
-
Figur 1 - eine perspektivische Skizze zur Veranschaulichung des Grundkon- zeptes des erfindungsgemäßen Greifersystems, wie es beispielswei- se im Bereich eines Bogenauslegers Anwendung finden kann,
-
Figur 2 - eine Schnittskizze zur Veranschaulichung des Aufbaus eines erfin- dungsgemäßen Greifersystems, das einen durch eine externe Spu- leneinrichtung betätigbaren Greifer umfasst.
- FIG. 1
- 3 is a perspective sketch to illustrate the basic concept of the gripper system according to the invention, as can be used, for example, in the area of a sheet delivery,
- FIG. 2
- a sectional diagram for illustrating the structure of an inventive gripper system, which comprises a device operable by an external spool gripper.
In jeden Greiferwagen 1 sind mehrere Greifer 3 eingebunden, die jeweils einen Greiferfinger 4 und einen Greiferaufschlagabschnitt 5 umfassen, wobei die Greiferfinger 4 in einen Öffnungszustand bringbar sind zur Einbringung oder Freigabe eines Bogens B, wobei durch den Greiferaufschlagabschnitt 5 eine Sitzfläche K bereitgestellt ist, auf welche der jeweils aufzugreifende Bogen B durch den Greiferfinger 4 geklemmt werden kann. Das erfindungsgemäße Greifersystem zeichnet sich dadurch aus, dass in den jeweiligen Greiferwagen 1 ein oder mehrere GreiferAktuatoreinrichtungen 6 eingebunden sind, wobei diese Greifer-Aktuatoreinrichtung 6 jeweils derart ausgebildet ist, dass durch diese der zugeordnete Greifer 3 einzeln aktivierbar ist. Die kinematische Führung der Greiferfinger ist abweichend von dem gezeigten Ausführungsbeispiel so ausgebildet, dass vorzugsweise kein Bogenschieben auftritt.In each gripper carriage 1 a plurality of
Bei dem hier gezeigten Ausführungsbeispiel ist die Greifer-Aktuatoreinrichtung 6 derart ausgebildet, dass über diese die in den Greiferwagen 1 eingebundenen Greifer in definierten Gruppen in den Öffnungszustand bringbar sind. Die Ansteuerung des hier dargestellten Greifersystems 1 erfolgt durch eine an die Greiferlaufbahn herangeführte Betätigungseinrichtung 7. Die Betätigungseinrichtung 7 ist bei diesem Ausführungsbeispiel als Spulensystem ausgeführt, das mehrere Spulenkerne 8 aufweist, wobei die diesem Spulenkern 8 zugeordneten Wicklungen über eine Steuereinheit C angesteuert werden können. Über diese Spulenanordnungen 8 wird es möglich, die zur Betätigung der in den Greiferwagen 1 eingebundenen Greifer erforderliche Betätigungsenergie auf induktivem oder auf elektromagnetischem Wege bereitzustellen.In the embodiment shown here, the
Bei dem hier gezeigten Ausführungsbeispiel erfolgt die Ansteuerung der in den Greiferwagen 1 eingebundenen Aktuatoren 6 durch die Steuereinrichtung C derart, dass der durch den Greiferwagen aufgegriffene Bogen B an einer programmtechnisch vorgegebenen Abgabestellung freigegeben wird. Zur Synchronisation der Ansteuereinrichtung 7 mit dem Umlauf der Greiferwagen 1 ist eine Detektionseinrichtung 9 vorgesehen, über welche die Position des Greiferwagens 1 oder insbesondere die Position der vorderen Querkante des Bogens B erfasst werden kann. Weiterhin kann über eine Signalabgriffseinrichtung 10 die momentane Drehphasenposition des Auslegers bzw. Laufposition des Greiferwagens 1 detektiert werden. Befindet sich der Greiferwagen 1 an der entsprechenden Abgabestelle im Bereich der Ansteuereinrichtung 7, so erfolgt über diese Ansteuereinrichtung 7 eine entsprechende Öffnung der in den Greiferwagen 1 eingebundenen Greifer. Die gesamte Ansteuerung des hier dargestellten, mit in den Greiferwagen 1 integrierten Aktuatoren ausgestatteten Auslegers kann weiterhin auch von einem Maschinenleitstand L aus koordiniert werden.In the embodiment shown here, the control of the integrated in the
In
Das erfindungsgemäße Greifersystem eignet sich insbesondere für die Übernahme der Bogen vom letzten Druck- bzw. Lackwerk und zum Transport dieser Bogen durch den Ausleger zur Auslage. Die Greifer dienen dabei der Bereitstellung der für den Bogentransport erforderlichen Haltekraft. Die Greifer sind hierzu an Aktuatoren angebunden, wobei vorzugsweise mehrere derartige Aktuatoren über die Länge des jeweiligen Greiferwagens verteilt angeordnet sind. Zum Öffnen bzw. Schließen der Greifer werden diese Aktuatoren entsprechend angesteuert. Durch das erfindungsgemäße Konzept wird es möglich, Greiferwagen mit äußerst geringer Bauhöhe zu realisieren. Hierdurch wird die Verwirbelung beim Transport der Bogen durch den Ausleger dadurch einem schlechten Trocknungs- und Bepuderungsprozess entgegengetreten. Durch die einzelne Ansteuerung der Greifer direkt über Aktuatoren kann insbesondere die bislang übliche Greiferwelle entfallen und es ist damit eine größere, konstruktive Gestaltungsfreiheit gegeben. Die Aufbauhöhe des Systems kann reduziert werden. Zusätzlich können Trockner und Bestäuber näher an den Bogen herangebracht werden. Weiterhin können Teile die Greiferöffnungskurve und deren Stellantriebe entfallen. Es ist eine unabhängig vom Öffnungszeitpunkt konstante Anlauframpe bei der Greiferöffnung möglich. Weiterhin entfällt der wegen der Torsion der Greiferwelle vorhandene "Klaviereffekt" beim Öffnen der Greifer. Der zyklisch wiederkehrende Einstellaufwand der Greifer kann entfallen. Schwingungen werden vermieden. Die Greifer im Greiferwagen werden einzeln oder gruppenweise über Aktuatoren (z.B. durch Piezoelektrischen Effekt, magnetisch, mechanisch, pneumatisch) geöffnet. Die Energie für die Aktuatoren wird durch ein induktives Prinzip, Schleifkontakte, Energiespeicher (Akkumulator, Kondensator, pneumatischer Druckspeicher) in das Greifersystem eingebracht.The gripper system according to the invention is particularly suitable for the acquisition of the sheet from the last printing or coating unit and for transporting these sheets by the boom for display. The grippers serve to provide the holding force required for the sheet transport. For this purpose, the grippers are connected to actuators, wherein preferably a plurality of such actuators are distributed over the length of the respective gripper carriage. To open or close the gripper these actuators are driven accordingly. The inventive concept makes it possible to realize gripper carriages with an extremely low overall height. As a result, the turbulence during transport of the sheet is counteracted by the boom a poor drying and powdering process. By the individual control of the gripper directly via actuators, in particular the hitherto usual gripper shaft can be omitted and it is thus given a greater design freedom. The construction height of the system can be reduced. In addition, dryers and pollinators can be brought closer to the bow. Furthermore, parts can account for the gripper opening curve and its actuators. It is possible regardless of the opening time constant ramp for the gripper opening. Furthermore, eliminates the existing because of the twist of the gripper shaft "piano effect" when opening the gripper. The cyclically recurring adjustment effort of the gripper can be omitted. Vibrations are avoided. The grippers in the gripper carriage are opened individually or in groups via actuators (eg by piezoelectric effect, magnetic, mechanical, pneumatic). The energy for the actuators is provided by an inductive principle, sliding contacts, energy storage (Accumulator, condenser, pneumatic pressure accumulator) introduced into the gripper system.
Es ist möglich, im Bereich bestimmter Abschnitte des Greiferwagenlaufpfades, insbesondere im Bereich der Bogenübernahme Führungs-, oder Abstützstrukturen vorzusehen durch welche der jeweilige Greiferwagen oder dessen Greifermechaniken derart abgestützt werden, dass ein korrekter und toleranzarmer Lauf der Greiferfinger im Bereich der Bogenübergabe sichergestellt ist. Entsprechende Führungsstrukturen können insbesondere als Umlenkgleitführungen, oder Umlenkrollen ausgeführt sein. Es ist auch möglich, diese Führungs- oder Abstützstrukturen als Stützrollen mit daran angebundenen, radial auskragenden Stützfingern auszubilden die im Beriech der Bogenübergabe den Greiferwagen radial anstützen und dabei vorzugsweise in Mitnehmermulden eintauchen die an dem Greiferwagen ausgebildet sind.It is possible, in the region of certain sections of the gripper carriage running path, in particular in the area of sheet transfer, to provide guide or support structures by which the respective gripper carriage or its gripper mechanisms are supported such that a correct and low-tolerance running of the gripper fingers in the region of the sheet transfer is ensured. Corresponding guide structures can be designed in particular as Umlenkgleitführungen, or pulleys. It is also possible to form these guide or support structures as support rollers with radially outwardly projecting support fingers connected thereto which radially support the gripper carriage in the area of the sheet transfer and preferably dive into catch recesses which are formed on the gripper carriage.
Claims (15)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102007033932A DE102007033932A1 (en) | 2007-07-20 | 2007-07-20 | Gripper system for a sheetfed press |
Publications (2)
Publication Number | Publication Date |
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EP2017080A2 true EP2017080A2 (en) | 2009-01-21 |
EP2017080A3 EP2017080A3 (en) | 2011-08-03 |
Family
ID=39721881
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP08009317A Withdrawn EP2017080A3 (en) | 2007-07-20 | 2008-05-21 | Gripper element for a sheet fed printing press |
Country Status (3)
Country | Link |
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EP (1) | EP2017080A3 (en) |
JP (1) | JP2009023843A (en) |
DE (1) | DE102007033932A1 (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
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CN104108236A (en) * | 2014-03-26 | 2014-10-22 | 天津长荣印刷设备股份有限公司 | Tooth row control system and work method thereof |
WO2020011395A1 (en) * | 2018-07-11 | 2020-01-16 | Bobst Mex Sa | Gripper bar body for a gripper carriage arrangement |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102007061387B4 (en) | 2007-12-19 | 2021-09-02 | manroland sheetfed GmbH | Circulating gripper system for sheet transport and method for operating it |
DE102010001805B4 (en) * | 2010-02-11 | 2020-10-15 | Koenig & Bauer Ag | Device for depositing sheets in displays of sheet processing machines |
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GB552680A (en) | 1940-10-16 | 1943-04-20 | Bobst Fils Sa J | Improvements in or relating to gripper mechanism for feeding blanks to platen and other machines |
DE4200406A1 (en) | 1992-01-10 | 1993-07-15 | Heidelberger Druckmasch Ag | GRIPPER DEVICE ON BOW-PROCESSING MACHINES |
DE20313394U1 (en) | 2003-08-29 | 2003-11-06 | Roland Man Druckmasch | Sheet delivery device for paper processing machine has sheet guiding device above upper run of sheet feed system and during sheet withdrawal is periodically movable from inactive initial position into sheet guiding position |
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DE2308025C3 (en) * | 1973-02-19 | 1980-12-04 | Western Gear Corp., Pittsburgh, Pa. (V.St.A.) | Sheet delivery for a sheet-fed printing press |
DE10336715A1 (en) * | 2002-09-06 | 2004-03-18 | Heidelberger Druckmaschinen Ag | Gripper device for a sheet processing printer or rotary printer, has separate drives for the gripper and gripper support so that gripper chatter is reduced during high speed printing |
DE102007010524A1 (en) * | 2006-03-27 | 2007-10-04 | Heidelberger Druckmaschinen Ag | Sheet transporting device for e.g. sheet-fed rotary printing machine, has individual gripper arranged on cylinder firm gripper axle, rotatably supported on axle, and arranged by coupling gear of gripper operating shaft in driven manner |
DE102006025789A1 (en) * | 2006-06-02 | 2007-12-13 | Man Roland Druckmaschinen Ag | Sheet fed printer has gripper drive system(s) in at least one cylinder for applying work required to actuate gripper finger, control device for machine-synchronous driving of gripper finger drive system by signaling |
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2007
- 2007-07-20 DE DE102007033932A patent/DE102007033932A1/en not_active Withdrawn
-
2008
- 2008-05-21 EP EP08009317A patent/EP2017080A3/en not_active Withdrawn
- 2008-07-18 JP JP2008187831A patent/JP2009023843A/en not_active Withdrawn
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GB552680A (en) | 1940-10-16 | 1943-04-20 | Bobst Fils Sa J | Improvements in or relating to gripper mechanism for feeding blanks to platen and other machines |
DE4200406A1 (en) | 1992-01-10 | 1993-07-15 | Heidelberger Druckmasch Ag | GRIPPER DEVICE ON BOW-PROCESSING MACHINES |
DE20313394U1 (en) | 2003-08-29 | 2003-11-06 | Roland Man Druckmasch | Sheet delivery device for paper processing machine has sheet guiding device above upper run of sheet feed system and during sheet withdrawal is periodically movable from inactive initial position into sheet guiding position |
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Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104108236A (en) * | 2014-03-26 | 2014-10-22 | 天津长荣印刷设备股份有限公司 | Tooth row control system and work method thereof |
CN104108236B (en) * | 2014-03-26 | 2016-08-17 | 天津长荣印刷设备股份有限公司 | A kind of tooth row's control system and method for work thereof |
WO2020011395A1 (en) * | 2018-07-11 | 2020-01-16 | Bobst Mex Sa | Gripper bar body for a gripper carriage arrangement |
TWI719530B (en) * | 2018-07-11 | 2021-02-21 | 瑞士商巴柏斯特麥克斯合資公司 | Gripper bar body for a gripper carriage arrangement |
CN112424099A (en) * | 2018-07-11 | 2021-02-26 | 鲍勃斯脱梅克斯股份有限公司 | Gripper bar body for gripper bracket arrangement |
RU2768697C1 (en) * | 2018-07-11 | 2022-03-24 | Бобст Мекс Са | Gripping mechanism bar housing for gripping mechanism carriage |
US11603276B2 (en) | 2018-07-11 | 2023-03-14 | Bobst Mex Sa | Gripper bar body for a gripper carriage arrangement |
Also Published As
Publication number | Publication date |
---|---|
DE102007033932A1 (en) | 2009-01-22 |
EP2017080A3 (en) | 2011-08-03 |
JP2009023843A (en) | 2009-02-05 |
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