EP2128057A1 - Procédé et dispositiv de levage et de manipulation d'une pile de feuilles ou d'une partie de celle-ci - Google Patents

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

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Publication number
EP2128057A1
EP2128057A1 EP08009723A EP08009723A EP2128057A1 EP 2128057 A1 EP2128057 A1 EP 2128057A1 EP 08009723 A EP08009723 A EP 08009723A EP 08009723 A EP08009723 A EP 08009723A EP 2128057 A1 EP2128057 A1 EP 2128057A1
Authority
EP
European Patent Office
Prior art keywords
stack
divider
gripper
lifting
gripping
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
EP08009723A
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 EP08009723A priority Critical patent/EP2128057A1/fr
Publication of EP2128057A1 publication Critical patent/EP2128057A1/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
    • B65H3/46—Supplementary devices or measures to assist separation or prevent double feed
    • B65H3/54—Pressing or holding devices
    • 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
    • B65H3/322—Separating articles from piles by elements, e.g. fingers, plates, rollers, inserted or traversed between articles to be separated and remainder of the pile for separating a part of the pile, i.e. several articles at once
    • 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
    • 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
    • B65H2301/4221—Removing package around 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
    • 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
    • B65H2301/4223—Pressing 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
    • 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

Definitions

  • the invention relates to a method for lifting and handling a stack of sheets or a sub-stack thereof with the features specified in the preamble of claim 1 and a device for carrying out this method with the features specified in the preamble of claim 6.
  • a fundamental problem with the piercing into the stack is that there is a risk that the stack shifts during insertion of the stack divider, so for lifting and handling, the stack usually has to be manually aligned again and the piercing must be repeated.
  • the invention has the object of providing a generic method in such a way that it works reliably and so can be integrated into automatic workflows and avoids the above-described manual intervention.
  • a device for carrying out the method is to be created, which is structurally simple but effective.
  • the inventive method for lifting and handling a stack of sheets or a sub-stack thereof provides that initially by means of a stack divider, the stack or sub-stack is under attack, then raised at least the edge side and gripped tongs for the purpose of further handling.
  • the invention is applied before reaching under or before grasping the stack on its upper side and that outside of the gripping area with an executed to the footprint of the stack pressure force.
  • the application of force takes place before reaching under, d. H.
  • the pressing force outside of the gripping area that is applied outside of the area in which attack the stack divider and the gripper so as not to hinder.
  • the basic idea of the method according to the invention is to apply a pressure force to the stack, typically in the region of the stack center, in order to secure it against lateral displacement.
  • the stability of the stack is increased in this way, so that the taking under hand, ie the piercing of the stack divider as well as the insertion of the pliers-like tools for the purpose of gripping takes place on the fixed piles, which is secured against lateral displacement by the pressing from above.
  • the pressing force is canceled at the latest before handling, but preferably before raising the stack or sub-stack.
  • the pressure force can optionally be selectively maintained for targeted processing of the stack or sub-stack to be handled, if this is expedient for the processing.
  • the method according to the invention can be carried out with one or more stack dividers which form part of a gripper, typically the lower part.
  • the method according to the invention provides that the gripping and edge-side lifting of the stack or sub-stack is effected by means of a tool operated independently of the grippers, since it has been shown that when using such an additional stack divider which exclusively takes on the task of stacking the stack Automation of the process can be made much more reliable and easier.
  • the gripping of the stack or sub-stack takes place during insertion of the stack divider by pivoting or linear insertion of a tool and subsequent lifting of the same.
  • the device according to the invention serves for lifting and handling a stack of sheets or a sub-stack thereof, which has at least one pincer-like gripper and, moreover, is provided with a pressure device which can force the stack towards its bearing surface.
  • Such a pressure device can be retrofitted even with existing handling machines or machines in a simple manner by, for example, at a suitable location a pneumatic cylinder is attached with pressure plate and the control of the pressure plate d. H. the pressurization of the cylinder is carried out by a correspondingly adapted control of the machine.
  • the design and manufacturing effort to install such a pressure device is relatively low, but increases the function of the system in which this device is integrated considerably.
  • a stack divider can form part of a tong-like gripper, but the stack divider is preferably arranged separately from the tong gripper. Due to the separate arrangement and the possibility of independent operation, the reliability of the device is further increased, since the stack divider can be specifically optimized for the under-grip, whereas the forceps-like gripper can be easily formed according to their exclusive gripping function.
  • a preferred embodiment of the stack divider makes it flat at the end, so that it can penetrate into the stack with little force. It is expedient in particular when entering from the edge of the stack ago not let the stack divider tapered, but straight as a spatula.
  • the penetration depth of the stack divider is limited in the stack, preferably by an elastic stop, which may be formed by a corresponding formation at the top of the stack divider.
  • the grippers movable on rails wherein the rails are preferably arranged at an angle of 90 ° to each other, so that the lifted stack or partial stack seized on two sides of the grippers and thus can be handled defined.
  • the mobility of the grippers on the rails not only to account for different blade sizes, but also be used in particular that the grippers are first moved in the open stack in the stack or partial stack in the vicinity of the stack divider and then along the rails in move the position in which they should apply the clamping force for the purpose of later handling.
  • the arrangement of the rails at an angle of 90 ° is particularly advantageous in the handling of rectangular arches, since the rails are then always arranged parallel to the stack sides and for extending and retracting the gripper a central diagonal feed movement of the entire device is sufficient.
  • the stack divider itself can likewise be arranged such that it can move on a rail, wherein the movement into the stack is effected by movement along the rail. Then it is convenient to arrange the rail so that it is located between the rails of the gripper and divides the spanned by the gripper rails angle. In that case, the arrangement of stack divider and gripper is ideally adapted to the geometry of the typically rectangular stack.
  • the stack divider can also be arranged to be pivotable. It has proved to be advantageous to arrange the stack divider about a horizontal axis pivotally mounted on the device, so pivots preferably by a horizontal pivoting movement of the stack divider in the edge of the stack and raises the stack of parts simultaneously by further pivoting.
  • the arrangement of the pressure device should be to prevent a disability of the stack divider but also the gripper reliably outside the gripping area, preferably with a sufficient distance to be.
  • the pressure device is at a spanned by the rails of the gripper area, and that at a distance opposite arranged to the stack divider. It is then ensured that the pressure device engages approximately in the middle of the paper stack or in a diagonal region which is sufficiently spaced from the stack divider and in any case lies outside the region of the gripper.
  • the device according to the invention is preferably used as part of an articulated arm robot, with which expediently a part of the movement sequences of the device are executed.
  • articulated arm robots are already comparatively inexpensive available today and include a controller which can typically take over the movements to be performed by the device.
  • 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 moved that in each case an optical button 9 scans two points, each lying on a stack 6 limiting line.
  • an optical probe 10 For detecting the height of the stack 6, 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. To detect the height of the stack 6, the chassis 3 with the button 10 located thereon is moved from above by means of the articulated arm robot 1 down until the button 10 registered a side surface of the stack 6 and thus the heightwise position of the top of the stack. 6 detected. These coordinates are stored in the control / regulation of the articulated arm robot 1 and taken into account in the subsequent control operations.
  • 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 ) in the area of a vertical Edge 16 enters the stack 6, ie this engages under the corner and raises.
  • 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, which are pneumatically movable toward each other for the purpose of clamping. 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 an intended position, in which the stack divider 11 is arranged at a small 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 bow vibrator 4, where he further processed and finally the cutting machine is supplied.
  • 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.
EP08009723A 2008-05-28 2008-05-28 Procédé et dispositiv de levage et de manipulation d'une pile de feuilles ou d'une partie de celle-ci Ceased EP2128057A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP08009723A EP2128057A1 (fr) 2008-05-28 2008-05-28 Procédé et dispositiv de levage et 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
EP08009723A EP2128057A1 (fr) 2008-05-28 2008-05-28 Procédé et dispositiv de levage et de manipulation d'une pile de feuilles ou d'une partie de celle-ci

Publications (1)

Publication Number Publication Date
EP2128057A1 true EP2128057A1 (fr) 2009-12-02

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EP08009723A Ceased EP2128057A1 (fr) 2008-05-28 2008-05-28 Procédé et dispositiv de levage et de manipulation d'une pile de feuilles ou d'une partie de celle-ci

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EP (1) EP2128057A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20210245970A1 (en) * 2020-02-11 2021-08-12 Heidelberger Druckmaschinen Ag Method of moving a stack of products using a robot
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
DE102021109504A1 (de) 2021-04-15 2022-10-20 Baumann Maschinenbau Solms Gmbh & Co.Kg Vorrichtung und Verfahren zum Handhaben eines Stapels
WO2024041828A1 (fr) * 2022-08-25 2024-02-29 Bw Papersystems Hamburg Gmbh Appareil et procédé pour diviser une pile de feuilles en rames comprenant un nombre spécifié de feuilles

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2742159A1 (de) 1977-06-01 1978-12-07 Willi Schneider Anlage zum aufstossen von blattmaterial-bogen zu einem stapel
DE10013417A1 (de) * 2000-03-17 2001-09-27 Maschb U Konstruktion Gmbh Elm Verfahren und Vorrichtung zum Palettieren von Kartonagen
EP1484270A2 (fr) * 2001-06-08 2004-12-08 bielomatik Leuze GmbH + Co KG Dispositif et procédé de traitement ultérieur d'une rame résiduelle avec ménagement et sans déchets
EP1505018A1 (fr) * 2003-08-08 2005-02-09 KPL Packaging S.p.A. Procédé de former et de saisir des paquets de feuilles
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 (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2742159A1 (de) 1977-06-01 1978-12-07 Willi Schneider Anlage zum aufstossen von blattmaterial-bogen zu einem stapel
DE10013417A1 (de) * 2000-03-17 2001-09-27 Maschb U Konstruktion Gmbh Elm Verfahren und Vorrichtung zum Palettieren von Kartonagen
EP1484270A2 (fr) * 2001-06-08 2004-12-08 bielomatik Leuze GmbH + Co KG Dispositif et procédé de traitement ultérieur d'une rame résiduelle avec ménagement et sans déchets
EP1505018A1 (fr) * 2003-08-08 2005-02-09 KPL Packaging S.p.A. Procédé de former et de saisir des paquets de feuilles
DE202005021055U1 (de) * 2004-05-05 2007-01-25 Baumann Maschinenbau Solms Gmbh & Co. Kg Vorrichtung zum automatischen Portionieren von blattartigen Materialstapeln, insbesondere von Papierstapeln

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20210245970A1 (en) * 2020-02-11 2021-08-12 Heidelberger Druckmaschinen Ag Method of moving a stack of products using 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
US11401117B2 (en) 2020-02-11 2022-08-02 Heidelberger Druckmaschinen Ag Device for moving a stack of products using a robot equipped gripper
DE102021109504A1 (de) 2021-04-15 2022-10-20 Baumann Maschinenbau Solms Gmbh & Co.Kg Vorrichtung und Verfahren zum Handhaben eines Stapels
DE102021109504B4 (de) 2021-04-15 2023-11-16 Baumann Maschinenbau Solms Gmbh & Co.Kg Vorrichtung und Verfahren zum Handhaben eines Stapels
WO2024041828A1 (fr) * 2022-08-25 2024-02-29 Bw Papersystems Hamburg Gmbh Appareil et procédé pour diviser une pile de feuilles en rames comprenant un nombre spécifié de feuilles

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