EP2128056A1 - Procédé et dispositif de manipulation d'une pile de feuilles ou d'une partie de celle-ci - Google Patents

Procédé et dispositif de manipulation d'une pile de feuilles ou d'une partie de celle-ci Download PDF

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Publication number
EP2128056A1
EP2128056A1 EP08009701A EP08009701A EP2128056A1 EP 2128056 A1 EP2128056 A1 EP 2128056A1 EP 08009701 A EP08009701 A EP 08009701A EP 08009701 A EP08009701 A EP 08009701A EP 2128056 A1 EP2128056 A1 EP 2128056A1
Authority
EP
European Patent Office
Prior art keywords
stack
height
detecting
arm robot
articulated arm
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.)
Ceased
Application number
EP08009701A
Other languages
German (de)
English (en)
Inventor
Erfindernennung liegt noch nicht vor Die
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.)
KG Schneider-Senator Verkaufs-GmbH
Solcon Systemtechnik GmbH
Original Assignee
KG Schneider-Senator Verkaufs-GmbH
Solcon Systemtechnik GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by KG Schneider-Senator Verkaufs-GmbH, Solcon Systemtechnik GmbH filed Critical KG Schneider-Senator Verkaufs-GmbH
Priority to EP08009701A priority Critical patent/EP2128056A1/fr
Publication of EP2128056A1 publication Critical patent/EP2128056A1/fr
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H3/00—Separating articles from piles
    • B65H3/32—Separating articles from piles by elements, e.g. fingers, plates, rollers, inserted or traversed between articles to be separated and remainder of the pile
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H3/00—Separating articles from piles
    • B65H3/46—Supplementary devices or measures to assist separation or prevent double feed
    • B65H3/50—Elements, e.g. fingers, plates, rollers, inserted or traversed between articles to be separated and remainder of the pile
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H3/00—Separating articles from piles
    • B65H3/46—Supplementary devices or measures to assist separation or prevent double feed
    • B65H3/60—Loosening articles in piles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H7/00—Controlling article feeding, separating, pile-advancing, or associated apparatus, to take account of incorrect feeding, absence of articles, or presence of faulty articles
    • B65H7/02—Controlling article feeding, separating, pile-advancing, or associated apparatus, to take account of incorrect feeding, absence of articles, or presence of faulty articles by feelers or detectors
    • B65H7/14—Controlling article feeding, separating, pile-advancing, or associated apparatus, to take account of incorrect feeding, absence of articles, or presence of faulty articles by feelers or detectors by photoelectric feelers or detectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2301/00—Handling processes for sheets or webs
    • B65H2301/40—Type of handling process
    • B65H2301/42—Piling, depiling, handling piles
    • B65H2301/422—Handling piles, sets or stacks of articles
    • B65H2301/4224—Gripping piles, sets or stacks of articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2301/00—Handling processes for sheets or webs
    • B65H2301/40—Type of handling process
    • B65H2301/42—Piling, depiling, handling piles
    • B65H2301/422—Handling piles, sets or stacks of articles
    • B65H2301/4224—Gripping piles, sets or stacks of articles
    • B65H2301/42242—Gripping piles, sets or stacks of articles by acting on the outermost articles of the pile for clamping the pile
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2511/00—Dimensions; Position; Numbers; Identification; Occurrences
    • B65H2511/10—Size; Dimensions
    • B65H2511/15—Height, e.g. of stack
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2511/00—Dimensions; Position; Numbers; Identification; Occurrences
    • B65H2511/20—Location in space
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2515/00—Physical entities not provided for in groups B65H2511/00 or B65H2513/00
    • B65H2515/30—Forces; Stresses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2553/00—Sensing or detecting means
    • B65H2553/40—Sensing or detecting means using optical, e.g. photographic, elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2553/00—Sensing or detecting means
    • B65H2553/40—Sensing or detecting means using optical, e.g. photographic, elements
    • B65H2553/42—Cameras

Definitions

  • the invention relates to a method for handling a stack of sheets or a sub-stack thereof for feeding a cutting system and to an apparatus for carrying out this method.
  • the invention has the object, on the one hand to provide a method which avoids these aforementioned disadvantages, in particular is easy to automate. Furthermore, a corresponding device is to be created with which the method according to the invention can be carried out and, with little technical outlay, stacks and partial stacks can be fed by machine from the printing machine of different sizes of the cutting system.
  • the procedural part of this object is achieved by the features specified in claim 1.
  • the device part of this object is achieved by a device having the features indicated in claim 5.
  • Advantageous embodiments of the invention are specified in the subclaims, the following description and the drawing.
  • the method according to the invention for handling a stack of sheets or a sub-stack thereof, as typically deposited by a printing machine, for feeding a cutting unit, in particular a sheet shaker of a cutting unit, first provides for detecting the position and the height of the stack. Thereafter, the stack or sub-stack is at least partially raised using the previously acquired attitude and height data and gripped from the side and then handled.
  • the basic idea of the method according to the invention is first of all to detect the essential positional parameters of the stack, ie the height of the stack, in particular the heightwise position of the uppermost sheet of the stack.
  • the position coordinates are important, at the same time the dimensions in terms of length and width of the stack may include.
  • the determined position and height of the stack or sub-stack is then at least partially, preferably in the region of a vertical edge, raised, that is divided and then gripped from the side. By lifting the stack or sub-stack a clearance is created, which allows gripping from the side and thus a subsequent handling.
  • the detection of the position and height of the stack forms the basis for all subsequent process steps and is especially for the automated and automated handling of the stack or sub-stack of crucial importance.
  • the paper stack can be supplied in pallets as it is stored from the printing machine by suitable means of transport, for example a forklift. Due to the position and height detection this can then be largely automated regardless of size, height and arrangement handled, ie automated by these data are transferred to the handling machine. Also, the spatial tolerances for the arrangement of the paper stack are comparatively large.
  • the stack or partial stack after gripping and before depositing z. B. zwangsgefambaert on the bow vibrator. Since the gripping takes place from the side of the stack, the gripped stack or partial stack is fixed only in the edge regions where a corresponding gripping device engages. Now, if the gripping devices are moved to each other, so there is a simple way a forced movement of the leaves to each other and thus the desired release of any gluing.
  • the leaves coming from the cutting machine are typically rectangular.
  • it is therefore sufficient according to a development of the method according to the invention preferably in the region of the top on three sides at least one edge point and on the fourth side at least two spaced boundary edge points to detect the location of the stack based on the detected points.
  • These five points define the position of the stack and its dimensions in terms of width and length. It is particularly advantageous to perform a survey of the stack in the upper area, since for the further automated handling initially only the uppermost part of the stack is relevant and the underlying areas may possibly be re-measured later. On the basis of the determined position or dimensions of the stack, the control of all handling devices can take place.
  • the sheet vibrator of the cutting system has been charged with a partial stack, so after placing the sub-stack on the Bogenrüttler, the remaining remnant at least in terms of its location measured in the time when the Bogenrüttler works.
  • no supply of another sub-stack or stack can take place anyway, which is why it is expedient to check by detecting the position whether the stack located under the already lifted partial stack still has exactly the same position or a position displaced therefrom. In this way, shifts within the stack can be detected, which is why an automated processing and handling of sheared stacks is possible.
  • the device according to the invention for handling a stack of sheets or a sub-stack thereof, in particular for loading a cutting machine has an articulated-arm robot and means for detecting the position and the height of the stack. Furthermore, means for lifting and gripping the stack or the sub-stack and an electronic control are provided. In this case, the means for detecting the position and the height of the stack and the means for lifting and gripping the stack are advantageously arranged on the arm of the articulated arm robot.
  • the device according to the invention thus enables the automatic Charging a cutting system, in particular a Bogenrüttlers such a system, without the deposited paper from the printing machine stack at a certain point to store precisely or previously aligned manually.
  • an articulated arm robot greatly simplifies the machine construction of the device, since all substantial basic movements of the device can be performed by the articulated arm robot, which is cost-effective, including control, available, so that the adjustments required for the present handling process are comparatively small. It can therefore largely be dispensed with the use of special machines, as they are known from the prior art.
  • the electronic control of the articulated arm robot can be used advantageously to use additional functions for the handling of a stack or sub-stack and in particular to evaluate the surveying data and further processed.
  • the device according to the invention can also be used for retrofitting existing cutting systems. It can also be moved due to the low and only one-sided space requirement at any time in a position which also allows the manual loading of the cutting system.
  • a six-axis articulated arm robot is used as the articulated arm robot since it can advantageously carry out the necessary degrees of freedom and movements.
  • the detection of the position of the stack, so the arrangement of the stack in space, ie also advantageous its extension in the length and width direction relative to a fixed point of Gelenkarmroboters can be done in a simple manner by means of at least one optical button, which is preferably aligned so that he on the top of the pile is directed.
  • two or more optical buttons are provided to detect the situation with a few traversing movements.
  • Such optical buttons are especially for paper handling advantage because they work without contact.
  • the position detection from the top is particularly favorable in terms of machine technology, and on the other hand it has the advantage of detecting the position of the stack in its upper region, which is particularly important for the subsequent gripping process which takes place in this region.
  • the location and / or height detection of the stack can be done by means of at least one electronic 2D or 3D camera.
  • a camera can be installed either on the articulated arm robot or fixed in space. It is state of the art to calculate coordinate data of the stack from the image data supplied by the camera.
  • the means for detecting the position that is, the one or more optical buttons, cameras, sensors or the like are rigidly arranged on the arm of the articulated arm robot and are moved by means of the articulated arm robot for position detection.
  • the already existing motors of the articulated arm robot are used to make the appropriate movements. So there are no other moving parts or motors required.
  • the grippers are each movable on guide rails, preferably pneumatically driven, said guide rails sitting rigidly on the arm of the articulated arm robot and preferably one span this right angle so that this degree of freedom of movement along the rail is sufficient for the grippers to allow their arrangement over the length or width of the stack.
  • the delivery is advantageously carried out by means of the articulated arm itself.
  • an optical probe is advantageously provided, which is directed parallel to the stack top, so that by starting laterally offset the stack from above the top of the stack and thus its height can be detected quickly and easily.
  • the height of the stack in the sense of the present invention does not mean the measured height of the stack, but the height of the upper side of the stack relative to the coordinate system of the robotic arm robot. Only this height is critical to the handling of the top of the stack, typically a sub-stack that is to be lifted and handled to load the sheet vibrator from the remaining stack.
  • This button can also be arranged rigidly on the arm of the articulated arm robot, so that the scanning movement can again take place from top to bottom by the robot itself.
  • the few movements necessary for lifting and handling the stack are integrated into the control of the robot arm control. It is also expedient for additional control means to access the basis of the coordinates of the robot arm control in order to form a quasi-uniform system and to be able to reduce the number of electronic and mechanical components to a minimum.
  • the device according to the invention consists of a six-axis articulated robot 1, on the articulated arm via a terminal flange 2, a chassis 3 is fixed, which carries further, hereinafter described in detail assemblies / parts.
  • the articulated robot 1 is mounted on the floor and stands here at a distance from a sheet vibrator 4, which forms part of a cutting system not shown here, which is to be fed.
  • the chassis 3 which is formed in the illustrated embodiment substantially from a triangular support plate 7 in plan view with a pipe section 8 projecting therefrom with mating flange 2, is to be understood here only as an example.
  • the chassis construction can be made of any suitable components, in particular truss-like.
  • two optical buttons 9 are provided, with which the position and thus also the size (length and width) of the paper stack 6 located underneath can be scanned.
  • the optical buttons 9 are arranged so that they can radiate down freely, so that their rays impinge either on the paper stack 6 at its top depending on the arrangement or next to what is registered in the (not shown) control / regulation of the device.
  • the chassis 3 with the buttons located thereon 9 by means of the articulated arm robot 1 in a position at a distance above the paper stack 6 so that each optical probe 9 scans two points, each lying on a stack 6 limiting line.
  • an optical probe 10 is provided, the scanning beam is directed towards the stack, but parallel to the top and which is also firmly connected to the chassis 3.
  • the chassis 3 is moved with the button 10 located thereon coming from above by means of the articulated arm robot 1 until the button 10 a side surface registered the stack 6 and thus detects the heightwise position of the top of the stack 6.
  • a stack divider 11 is mounted, which is wedge-shaped towards the stack and either, as based on Fig. 6 shown pivotable about a horizontal axis 12 on the chassis 3 or as shown Fig. 5 is arranged linearly movable.
  • Fig. 5 an obliquely arranged to the support plate 7 rail 14 along which the stack divider 11 is movable.
  • the device is aligned and arranged so that after the detection of height and position of the paper stack 6, the stack divider 11 with its front flat side 15 during pivoting ( Fig. 6 ) or linear movement ( Fig. 5 ) enters the stack 6 in the region of a vertical edge 16, ie it engages under and lifts it in the corner area.
  • a pressure device in the form of a pneumatic cylinder 17 is provided with a pressure plate 18 attached thereto at the end of the support plate 7, and at a distance from the stack divider 11, such that the pressure plate 18 is always arranged at a sufficient distance from the stack divider 11 and the grippers 20.
  • the grippers 20 are formed like a pair of pliers and have a lower and an upper clamping part, the pneumatic for the purpose of Clamps are movable towards each other. They can also be moved on the guide rails 19 motor and pivoted.
  • the control of all functions of the mounted on the chassis 3 assemblies / parts is done centrally via the control of the articulated arm robot 1.
  • the articulated arm robot 1 moves first in a high position above the maximum allowable stack height from so that by means of the optical switch 9, the position of the stack 6 with respect to the articulated arm robot 1 and thus also the length and width of the sheets to be processed is detected.
  • the chassis 3 is moved down until by means of the vertical switch 10, the height, ie the top of the stack 6 is detected.
  • the articulated-arm robot 1 then moves to a position in which it is intended, in which the stack divider 11 is arranged at a short distance in front of a vertical edge 16 of the paper stack 6 and the guide rails 19 are aligned approximately with the sides of the paper stack. Then, the stack 6 is fixed by pressurizing the cylinder 17. Thereafter, in the execution according to Fig. 5 by means of a linear drive of the stack divider 11 along the rail 14 from the corner into the vertical edge 16 of the stack 6. In the execution according to Fig. 6 this is done by extending the pneumatic cylinder 21, whereby a lever 22 is pivoted about the horizontal axis 12, at the lower end of the actual stack divider 11 is seated.
  • the grippers 20 are pivoted by motor, so that a compulsory fan, which releases adhering leaves solves.
  • the entire chassis 3 is then pivoted with the assemblies located thereon and the sub-stack by 90 ° and placed in a position above the Bogenrüttler 13, after which open the gripper 20 and swing to release the sub-stack down, so that this sub-stack comes to rest on the table of the vibrator 4, where it is further processed and finally fed to the cutting machine.
  • several sub-stacks are successively stacked on the Bogenrüttler 4 one above the other. In the time in which the vibrator 4 works, a feed with another sub-stack can not be done. This time is used to again measure the remaining stack 6 as described above in terms of location and height.
  • the existing of the pneumatic cylinder 17 and the pressure plate 18 pressure device is typically activated prior to piercing the stack divider 11. Such an activated position is in Fig. 6 shown. Then presses the pressure plate 18 from the top of the stack, thus increasing the friction within the sheet stack, so that both the piercing of the stack divider and the subsequent retraction of the gripper 20 does not change the stacking layer. Only after closing the Gripper, the pressure plate is relieved again and returns to the in Fig. 5 shown position back.
  • Fig. 1 clarifies the entire device can be moved by, for example, turning the articulated arm robot about its vertical axis by 90 ° or 180 ° from the access area of the Bogenrüttlers 4 to this in another way, for. B. manually feed.
  • the device can optionally be used for loading from the right or from the left.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Sheets, Magazines, And Separation Thereof (AREA)
EP08009701A 2008-05-28 2008-05-28 Procédé et dispositif de manipulation d'une pile de feuilles ou d'une partie de celle-ci Ceased EP2128056A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP08009701A EP2128056A1 (fr) 2008-05-28 2008-05-28 Procédé et dispositif de manipulation d'une pile de feuilles ou d'une partie de celle-ci

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP08009701A EP2128056A1 (fr) 2008-05-28 2008-05-28 Procédé et dispositif de manipulation d'une pile de feuilles ou d'une partie de celle-ci

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EP2128056A1 true EP2128056A1 (fr) 2009-12-02

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Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130223968A1 (en) * 2010-11-22 2013-08-29 Industrial Robot Automation Automatic handling and aeration of a stack of paper sheets
FR3096672A1 (fr) * 2019-06-03 2020-12-04 Jyga Process installation et procédé de manipulation de flans plats
DE102019116306A1 (de) * 2019-06-14 2020-12-17 Koenig & Bauer Ag Substrathandhabungssystem und Verfahren zum Betreiben eines Substrathandhabungssystems
DE102019116302A1 (de) * 2019-06-14 2020-12-17 Koenig & Bauer Ag Substrathandhabungssystem und Verfahren zum Betreiben eines Substrathandhabungssystems
WO2020249350A1 (fr) 2019-06-14 2020-12-17 Koenig & Bauer Ag Système de manipulation de substrats avec cellule de robot et son procédé d'utilisation
DE102019116304A1 (de) * 2019-06-14 2020-12-17 Koenig & Bauer Ag Substrathandhabungssystem und Verfahren zum Betreiben eines Substrathandhabungssystems
DE102020103398A1 (de) 2020-02-11 2021-08-12 Heidelberger Druckmaschinen Aktiengesellschaft Verfahren zum Bewegen eines Produktstapels mit einem Roboter
DE102020201669A1 (de) 2020-02-11 2021-08-12 Heidelberger Druckmaschinen Aktiengesellschaft Vorrichtung zum Bewegen eines Produktstapels mit einem Roboter
DE102020103400A1 (de) 2020-02-11 2021-08-12 Heidelberger Druckmaschinen Aktiengesellschaft Verfahren zum Bewegen eines Produktstapels mit einem Roboter
DE102020103402A1 (de) 2020-02-11 2021-08-12 Heidelberger Druckmaschinen Aktiengesellschaft Verfahren zum Bewegen eines Produktstapels mit einem Roboter
DE102020115827A1 (de) 2020-06-16 2021-12-16 Baumann Maschinenbau Solms Gmbh & Co.Kg Verfahren zum Ver- und/oder Bearbeiten eines Stapels blattförmigen Guts sowie Schneidanlage
US11250556B2 (en) 2018-06-13 2022-02-15 Heidelberger Druckmaschinen Ag Method and device for inspecting images on print products using an image inspection robot
DE102021109504A1 (de) 2021-04-15 2022-10-20 Baumann Maschinenbau Solms Gmbh & Co.Kg Vorrichtung und Verfahren zum Handhaben eines Stapels
DE102022123762A1 (de) 2022-09-16 2024-03-21 Haver & Boecker Ohg Verfahren zum Greifen und Überführen wenigstens einer Einzeleinheit und Verwendung eines Systems

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DE2649959A1 (de) * 1976-10-30 1978-05-03 Mohr Vorrichtung zur uebergabe eines teilstapels bedruckter boegen von einem gesamtstapel in eine ruettelstation
DE2742159A1 (de) 1977-06-01 1978-12-07 Willi Schneider Anlage zum aufstossen von blattmaterial-bogen zu einem stapel
WO2001023289A2 (fr) * 2000-01-26 2001-04-05 Kba-Giori S.A. Dispositif et procede pour la detection de feuilles de papier
US20020154986A1 (en) * 2001-03-30 2002-10-24 Axium Automation Inc. Gripping and transport clamp mounted at the end of a robotic arm and method for operating the same
EP1598293A1 (fr) * 2004-05-05 2005-11-23 Adolf Mohr Maschinenfabrik GmbH & Co. KG Procédé pour charger une table vibrante et dispositif pour mettre en oeuvre le procédé
DE202005017158U1 (de) * 2005-11-03 2005-12-29 Schneider Engineering Ag Steuerungsvorrichtung, Vorrichtung zum Fixieren eines Stapels Papierbogen und Entstapelvorrichtung
DE202005021055U1 (de) * 2004-05-05 2007-01-25 Baumann Maschinenbau Solms Gmbh & Co. Kg Vorrichtung zum automatischen Portionieren von blattartigen Materialstapeln, insbesondere von Papierstapeln

Patent Citations (7)

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Publication number Priority date Publication date Assignee Title
DE2649959A1 (de) * 1976-10-30 1978-05-03 Mohr Vorrichtung zur uebergabe eines teilstapels bedruckter boegen von einem gesamtstapel in eine ruettelstation
DE2742159A1 (de) 1977-06-01 1978-12-07 Willi Schneider Anlage zum aufstossen von blattmaterial-bogen zu einem stapel
WO2001023289A2 (fr) * 2000-01-26 2001-04-05 Kba-Giori S.A. Dispositif et procede pour la detection de feuilles de papier
US20020154986A1 (en) * 2001-03-30 2002-10-24 Axium Automation Inc. Gripping and transport clamp mounted at the end of a robotic arm and method for operating the same
EP1598293A1 (fr) * 2004-05-05 2005-11-23 Adolf Mohr Maschinenfabrik GmbH & Co. KG Procédé pour charger une table vibrante et dispositif pour mettre en oeuvre le procédé
DE202005021055U1 (de) * 2004-05-05 2007-01-25 Baumann Maschinenbau Solms Gmbh & Co. Kg Vorrichtung zum automatischen Portionieren von blattartigen Materialstapeln, insbesondere von Papierstapeln
DE202005017158U1 (de) * 2005-11-03 2005-12-29 Schneider Engineering Ag Steuerungsvorrichtung, Vorrichtung zum Fixieren eines Stapels Papierbogen und Entstapelvorrichtung

Cited By (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130223968A1 (en) * 2010-11-22 2013-08-29 Industrial Robot Automation Automatic handling and aeration of a stack of paper sheets
US9004847B2 (en) * 2010-11-22 2015-04-14 Industrial Robot Automation Automatic handling and aeration of a stack of paper sheets
US20150191323A1 (en) * 2010-11-22 2015-07-09 Industrial Robot Automation Automatic handling and aeration of a stack of paper sheets
US9758329B2 (en) 2010-11-22 2017-09-12 Industrial Robot Automation Automatic handling and aeration of a stack of paper sheets
US11250556B2 (en) 2018-06-13 2022-02-15 Heidelberger Druckmaschinen Ag Method and device for inspecting images on print products using an image inspection robot
FR3096672A1 (fr) * 2019-06-03 2020-12-04 Jyga Process installation et procédé de manipulation de flans plats
DE102019116306A1 (de) * 2019-06-14 2020-12-17 Koenig & Bauer Ag Substrathandhabungssystem und Verfahren zum Betreiben eines Substrathandhabungssystems
DE102019116302A1 (de) * 2019-06-14 2020-12-17 Koenig & Bauer Ag Substrathandhabungssystem und Verfahren zum Betreiben eines Substrathandhabungssystems
WO2020249350A1 (fr) 2019-06-14 2020-12-17 Koenig & Bauer Ag Système de manipulation de substrats avec cellule de robot et son procédé d'utilisation
DE102019116301A1 (de) * 2019-06-14 2020-12-17 Koenig & Bauer Ag Substrathandhabungssystem und Verfahren zum Betreiben eines Substrathandhabungssystems
DE102019116304A1 (de) * 2019-06-14 2020-12-17 Koenig & Bauer Ag Substrathandhabungssystem und Verfahren zum Betreiben eines Substrathandhabungssystems
DE102020103400A1 (de) 2020-02-11 2021-08-12 Heidelberger Druckmaschinen Aktiengesellschaft Verfahren zum Bewegen eines Produktstapels mit einem Roboter
US11584605B2 (en) 2020-02-11 2023-02-21 Heidelberger Druckmaschinen Ag Method of moving a stack of products by use of a robot
DE102020103402A1 (de) 2020-02-11 2021-08-12 Heidelberger Druckmaschinen Aktiengesellschaft Verfahren zum Bewegen eines Produktstapels mit einem Roboter
EP3865439A1 (fr) 2020-02-11 2021-08-18 Heidelberger Druckmaschinen AG Dispositif de déplacement d'un empilement de produits à l'aide d'un robot
EP3865437A1 (fr) 2020-02-11 2021-08-18 Heidelberger Druckmaschinen AG Procédé de déplacement d'un empilement de produits à l'aide d'un robot
EP3865438A1 (fr) 2020-02-11 2021-08-18 Heidelberger Druckmaschinen AG Procédé de déplacement d'un empilement de produits à l'aide d'un robot
EP3865436A1 (fr) 2020-02-11 2021-08-18 Heidelberger Druckmaschinen AG Procédé de déplacement d'un empilement de produits à l'aide d'un robot
DE102020201669A1 (de) 2020-02-11 2021-08-12 Heidelberger Druckmaschinen Aktiengesellschaft Vorrichtung zum Bewegen eines Produktstapels mit einem Roboter
DE102020103398A1 (de) 2020-02-11 2021-08-12 Heidelberger Druckmaschinen Aktiengesellschaft Verfahren zum Bewegen eines Produktstapels mit einem Roboter
US11401117B2 (en) * 2020-02-11 2022-08-02 Heidelberger Druckmaschinen Ag Device for moving a stack of products using a robot equipped gripper
EP4332032A2 (fr) 2020-02-11 2024-03-06 Heidelberger Druckmaschinen AG Procédé de déplacement d'une pile de produits à l'aide d'un robot
DE102020115827A1 (de) 2020-06-16 2021-12-16 Baumann Maschinenbau Solms Gmbh & Co.Kg Verfahren zum Ver- und/oder Bearbeiten eines Stapels blattförmigen Guts sowie Schneidanlage
DE102021109504B4 (de) 2021-04-15 2023-11-16 Baumann Maschinenbau Solms Gmbh & Co.Kg Vorrichtung und Verfahren zum Handhaben eines Stapels
DE102021109504A1 (de) 2021-04-15 2022-10-20 Baumann Maschinenbau Solms Gmbh & Co.Kg Vorrichtung und Verfahren zum Handhaben eines Stapels
DE102022123762A1 (de) 2022-09-16 2024-03-21 Haver & Boecker Ohg Verfahren zum Greifen und Überführen wenigstens einer Einzeleinheit und Verwendung eines Systems

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