EP2346764B1 - Apparatus and corresponding method for conveying and handing over of flat articles - Google Patents

Description

The invention is in the field of conveyor technology and relates to an apparatus and a method for conveying and dispensing flat, preferably flexible objects, in particular printed products, on the basis of a gripper conveyor. The further development according to the invention is used in particular for controlled delivery of the objects.

In the printing technology, especially in newspaper production, increasingly complex items are promoted at ever greater speeds and / or otherwise processed. Such items are, for example, printed products, such as newspapers, magazines, brochures, books, or even credit cards, CDs, samples and the like. These are individually selected and compiled into collections.

The high speeds and the complexity of the products require a very precise control of the position of the individual components at each point in time of processing, in particular when transferring products between two parts of a plant. When transferring objects from a gripper conveyor to another station, such as a conveyor belt, the gripper, for example, only open, and the objects come to rest on the conveyor belt due to gravity. It may happen that the individual products that were held together by the gripper, move against each other or twist. This can lead to errors during further processing.

The EP 1 717 179 A1 describes a device for stabilizing in a flow over a distance in parentheses of a conveyor suspended conveyed printed products by means of guide elements. The printed products are transferred by means of the conveying device into a processing device.

The US 4, 577, 855 describes a device for selectively picking out individual printed products from a moving product stream by means of a gripper conveyor. For this purpose, guide elements are provided, which should help to pick out the printed products from the product stream. The US 2005/0040322 A1 discloses a device according to the preamble of claim 1.

The invention is therefore based on the object to further develop a gripper conveyor such that a well-controlled release of the held objects is possible, especially a deposit on a conveying surface.

The object is achieved by a device having the features of claim 1 and by a corresponding operating method having the features of claim 14. Advantageous developments of the invention will become apparent from the dependent claims, the description and the drawings.

The device for conveying and dispensing flat and preferably also flexible objects, in particular printed products, comprises a plurality of grippers, which are movable in a conveying direction along a closed conveying path defined by a conveying member, eg a chain with a plurality of chain links. The grippers comprise a first and a second gripper jaw, which can take a clamping position and an open position relative to each other. According to the invention, the first gripper jaw is extended relative to the second gripper jaw. It comprises a first gripper part, which cooperates in the clamping position with the second gripper jaw, and a second gripper part, which projects beyond the second gripper jaw in the clamping position. The orientation of the first and second gripper parts relative to each other is variable and adjustable with a control device.

The operating method provides that the closed gripper with objects received therein are moved to a transfer area and the grippers are opened there. The second gripper parts are controlled such that they press the objects in the transfer area against a conveyor support a Wegfördereinrichtung, in particular already shortly before opening and until the object rests completely on the conveyor support.

By controllable second gripper parts, the device comes without additional co-moving guide elements for stabilizing and positioning of the objects to be dispensed.

By the orientation of the first and second gripper parts is controlled relative to each other changeable, the objects to be dispensed can be controlled, for example, in the transfer to another component of the entire system. In this case, they interact, for example, with external counter-elements. By the actively controlled, movable second gripper part can also be exerted pressure on the object. Shifts of the held objects during and after the opening of the gripper are thus avoided.

The grippers according to the invention can be realized, for example, on the basis of conventional grippers with substantially equal gripper jaws. One of these "conventional" gripper jaws is provided according to the invention at its distal end with a movable extension which projects beyond the other gripper jaw. The corresponding gripper jaw with the extension is referred to in the context of the invention as a whole as "first gripper jaw". The part of this first gripper jaw which, together with the second gripper jaw, performs the conventional clamping function is referred to as the "first gripper part". The extension is called "second gripper part". The connection is realized in particular by means of a joint.

Preferably, a removal device is provided with a flat or substantially flat and flexible delivery support, in particular a belt conveyor. This is arranged relative to the gripper conveyor so that objects released by the grippers are gravity assisted, i. from above, are placed on the conveyor support. The area in which the conveying path of the gripper conveyor approaches the removal device so far that the transfer can take place is referred to as the transfer area. The gripper conveyor has an opening device for the gripper in the transfer area. Before, during and after opening the gripper, the objects are preferably pressed flat against the conveyor support by the second gripper parts. The control device thus preferably sets a minimum distance between the second gripper part and the conveying path of the gripper, which is not undershot during the transfer.

Preferably, the article is held in a clamping manner during and after the opening of the gripper until complete delivery to the removal device between the second gripper part and the removal device. The speeds of the gripper and the Wegfördereinrichtung are adapted to each other.

By variably varying the orientation of the second gripper part, the object can be accompanied and fixed over an extended distance during delivery to the removal device. Its orientation is adjusted, for example, to be adapted (e.g., parallel) to the counter element, e.g. to the conveying surface of the removal device, is to achieve a flat clamping effect.

Alternatively or additionally, the second gripper part can be flexible to achieve a surface effect, so that it on the object or on the counter element can roll. In this case, the second gripper parts in the transfer region, at least in the vicinity of the connection to the first gripper part, preferably have an orientation which is approximately parallel to the conveyor track. The conveyor track is preferably curved in the transfer area. In the view transverse to the conveying direction of the second gripper part is thus oriented approximately tangentially to a circular path, which has the same center as the conveyor track, but a larger radius.

Controllable second gripper parts can be realized mechanically simple: Since the gripper jaws are normally spaced from their conveying member, a change in the path curvature of the conveyor path causes the distances between two arbitrary reference points on adjacent grippers to change. Such a change in distance also occurs, for example, between a reference point on a gripper and the conveying member, e.g. a subsequent chain link, on. By a suitable mechanical coupling between the second gripper part and a subsequent gripper or the conveying member, therefore, the orientation of the second gripper part can be controlled. For this purpose, the second gripper part, for example, is mechanically coupled to the mentioned elements, e.g. over a lever. A separate control link independent of the actual grippers or their conveying member is also possible, but is mechanically complex.

The first gripper part and the second gripper jaw each have an elasticity or rigidity which allows a sufficient clamping action in the clamping position. To compensate for different thick products may have some flexibility or spring action. By the second gripper jaw having a plurality of separately resilient fingers, which cooperate together with a first gripper jaw, thickness variations within the gripped object can be compensated. Preferably, the second gripper part is comparatively dimensionally stable or rigid, ie without (as in the following embodiment) an elasticity of the second gripper part plays an essential function. The second gripper part is, according to the trajectory of the conveyor track in the transfer area, curved, so that when the second gripper part is in the transfer area, the curvature of the second gripper part concentric to the conveyor track in the transfer area, ie with a different radius, but with the same center , If the curvature of the second gripper part is mentioned here and below, this means the curvature on an outer surface of the second gripper part, ie the surface on which the products rest. During and after the second gripper part transfers an object to an example flat or approximately flat, resilient conveying surface of the removal device, the second gripper part can roll due to its shape on the object to be dispensed or on the conveying surface respectively to roll off. The second gripper part can therefore interact flatly and not only at points or along a line with the object. Preferably, the second gripper part has an elasticity which is greater than that of the first gripper part. During and after the second gripper part transfers an object to an example flat conveying surface of the removal device, the second gripper part can roll due to its deformability on the object to be dispensed or on the conveying surface. The second gripper part can therefore interact flatly and not only at points or along a line with the object. The elasticity is preferably not so great that the second gripper part can no longer act as a support or support surface. The elasticity is therefore chosen so that the second gripper part is not significantly deformed by the weight of the gripped collection of products. These elastic second gripper parts can be realized both with and without the mechanical control of their orientation.

A still more controllable product delivery is achieved by at least one flexible extension is connected to the second gripper part, which protrudes from the second gripper part and extends into the region of the first gripper part. The tops of the extension and the second gripper part are preferably aligned with each other. In the extended state of the two gripper parts (aligned upper sides) of the extension lies on the top of the first gripper part, wherein the respective upper sides are aligned. In the kinked state of the two gripper parts (at an angle to each other oriented tops) of the extension of the first gripper part is off. When the gripper is opened, therefore, the object is pushed away by the extension from the first gripper part, towards a removal device. As a result, product shifts are additionally avoided during delivery.

In addition to the support function in the product delivery, the extended first gripper jaw can take on an additional function: it forms preferably at least in the open position of the gripper a bearing surface for the objects. For this purpose, preferably at least her second gripper part in a direction transverse to the conveying direction so wide that objects can be stably stored on it. The second gripper part can for example be wider than the second gripper jaw. As a result, the gripper can also be used to collate objects: Various printed products, for example precursors or supplements, can be fed to the opened gripper and stacked to form a stack. The gripper thus assumes the function of a pocket conveyor during collation. The orientation of the second gripper part is preferably set so that the support function is fulfilled, so the second gripper part does not yield under load. The first and second gripper parts are preferably aligned with one another in the region of the conveyor track in which the collating is carried out.

For feeding objects into the grippers, for example, there are a plurality of feed devices, the outputs of which lie one behind the other in a collation area of the conveyor track in a row substantially parallel to the conveyor track.

There may also be an alignment unit which laterally aligns the objects arranged in the open grippers. For this purpose, it is advantageous, but not absolutely necessary, when the second gripper parts are less wide transversely to the conveying direction than a typical article width.

The invention can be used with advantage in all cases in which a well-controlled transfer of objects from a gripper conveyor to a removal device, in particular to a belt conveyor, is desired.

Preferably, the function of the delivery, so the opening of the gripper to release the held collection of products, switchable, so that selected collections are not issued, but kept in the gripper and be returned. In this way, a correction function can be implemented by rejecting faulty collections or adding or removing missing products on re-passing through a collating device.

• Fig. 1 eine perspektivische Ansicht eines Greifers einer erfindungsgemässen Vorrichtung;
• Fig. 2 den Greifer aus Fig. 1 in einer Ansicht in Förderrichtung;
• Fig. 3a+b den Übergabebereich einer erfindungsgemässen Vorrichtung zu verschiedenen Zeitpunkten bei der Abgabe von Gegenständen;
• Fig. 4 einen anderen Teilbereich der Förderbahn, in dem Gegenstände in die geöffneten Greifer eingeführt werden;
• Fig. 5 einen anderen Teilbereich der Förderbahn, in dem Gegenstände durch die geschlossenen Greifer hängend gefördert werden;
• Fig. 6 eine perspektivische Ansicht eines weiteren Greifers einer erfindungsgemässen Vorrichtung;
• Fig. 7 einen Ausschnitt aus dem Gelenkbereich des Greifers aus Fig. 6;
• Fig. 8 den Greifer aus Fig. 6 in einer Ansicht in Förderrichtung;
• Fig. 9a+b den Übergabebereich einer erfindungsgemässen Vorrichtung mit einem Greifer gemäss Fig. 6 zu verschiedenen Zeitpunkten bei der Abgabe von Gegenständen.

Examples of the invention are illustrated in the drawings and described below. It shows purely schematically:

• Fig. 1 a perspective view of a gripper of a device according to the invention;
• Fig. 2 the gripper off Fig. 1 in a view in the conveying direction;
• Fig. 3a + b the transfer area of a device according to the invention at different times during the delivery of objects;
• Fig. 4 another portion of the conveyor track in which items are inserted into the opened grippers;
• Fig. 5 another portion of the conveyor track in which objects are suspended by the closed gripper;
• Fig. 6 a perspective view of another gripper of a device according to the invention;
• Fig. 7 a section of the joint region of the gripper Fig. 6 ;
• Fig. 8 the gripper off Fig. 6 in a view in the conveying direction;
• Fig. 9a + b the transfer area of an inventive device with a gripper according to Fig. 6 at different times in the delivery of objects.

Fig. 1 shows a perspective view of a gripper 10 of an inventive device 1. Cutouts from the device 1 are in the Fig. 3a + b, 4 and 5 are shown. The device 1 comprises a plurality of grippers 10, which are attached to a conveying member 20 in the form of a chain with a plurality of chain links 21. In this example, each second chain link 21 carries a gripper 10. It could also each chain link 21 is equipped with a gripper 10. The shape of the conveyor track U is predetermined by a channel 23. By means of guide elements 22 in the form of rollers, the chain rolls in the channel 23 and moves the gripper 10 in the conveying direction F, which corresponds to the channel direction. The conveyor track U has, for example, linear areas ( Fig. 4 +5) or curved areas with a certain radius of curvature R ( Fig. 3a + b) or with variable curvature.

The grippers 10 comprise two gripper jaws 11, 12, each forming a functional unit, but may consist of several elements. The shorter second gripper jaw 12 here comprises, for example, two separate fingers 18, which are arranged next to one another transversely to the conveying direction. There is a pivot mechanism 30, with which the gripper jaws 11, 12 can be adjusted relative to each other. The pivot mechanism 30 includes controls in the form of control rollers 32 and a latch 33. The control rollers 32 together with a control link 34 (FIGS. Fig. 2 ) for transferring the gripper 10 in the clamping position. In the clamping position of the gripper 10 is locked by the lever 33. Product unevenness is compensated for by both fingers 18 being spring-loaded independently by springs 31. By an opening element 35 ( Fig. 2 . 3a + b ) acts on the latch 33 and pushes it away, the gripper 10 is opened. The opening element 35 may be switchable, ie that in selected collections the opening element 35 is displaced so that the corresponding lever 33 is not actuated and the gripper 10 is not opened, and the collection of products (or a single product) held in the gripper 10 is not dispensed becomes. Thus, the collection can be promoted back and removed or supplemented.

The longer first gripper jaw 11 is constructed as follows: It comprises a side view (see Fig. 3a + b) L-shaped molding 19, for example, a bent sheet metal. A first surface of this shaped part 19 serves as a first gripper part 13, ie, it can cooperate with the second gripper jaw 12 in a clamping manner. One of approximately approximately projecting second surface of this molding 19 serves as a bottom surface 17 of the gripper 10 and forms a stop 16 for the male products. A second gripper part 14 is connected to the distal end 13 a of the first gripper part 13 with this via a hinge 15. The distal end 13a of the first gripper part 13 has, for example, a reinforcement 13b. The second gripper part 14 is a flat flexible element, and / or is designed in its shape according to the course of the orbit U: In the second case, the second gripper part is curved so that its center of curvature coincides in the transfer area with the center M of the curvature of the orbit U. , A width b of the second gripper part 14 is smaller than a typical product width B. The second gripper part 14 is at its rear side (in Fig. 1 not visible) connected to a control mechanism 40 for adjusting its orientation. The control mechanism 40 comprises a rigid lever 41 of length L. The lever 41 is pivotally connected to a reinforcing element 42 on the second gripper part 14 and to a bearing element 43. The corresponding pivot axes are designated A1 and A2. The first pivot axis A1 has a distance d> 0 from the joint 15. The distance d is about one third to one quarter of the total length of the second gripper part 14. The bearing element 43 is here attached to the adjacent, in the conveying direction F subsequent chain link 21. The bearing element 43 could also be attached or formed on a subsequent gripper 10, ie the lever 41 could be attached directly to the subsequent gripper. If the second gripper part 14 is sufficiently stable, it would also be possible to dispense with the reinforcing element 42.

In partial regions of the conveyor track U, an alignment unit 60 is arranged and can act on the objects in the grippers 10. As in Fig. 2 shown includes the Aligning unit 60, for example, laterally of the conveyor track U arranged alignment elements 61, the distance is adjustable.

In a further portion of the conveyor track U, a removal device 50 is present. The region in which the device cooperates with the removal device 50 is also referred to as the transfer region. In Fig. 3a + b is an example of such a removal device 50, here a belt conveyor with a conveyor belt 52, which forms a substantially flat conveyor support 51 for products to be acquired. In order for the transfer to take place, the optionally switchable opening element 35 acts on the lock 33 at an opening point S1 in order to open the grippers 10.

Fig. 4 finally shows an example of the inclusion of products 100 in the gripper 10. The products 100 are introduced by a feed unit 70 in the open gripper. There may also be other feeder units (not shown) for the introduction of other products. The grippers are closed at a closing point S2 by a suitable backdrop.

• Die Länge L des Hebels 41 und der Abstand d (s. Fig. 3b) seiner Schwenkachse A1 vom Gelenk 15 sind so gewählt, dass der zweite Greiferteil 14 in einer Ansicht quer zur Förderrichtung F etwa mit dem ersten Greiferteil 13 fluchtet, wenn die Förderbahn U gerade ist. Diese Situation ist in Fig. 4+5 gezeigt. Der Hebel 41 ist hier senkrecht zur Förderrichtung F orientiert. Die Greiferteile 13, 14 sind etwa um 20-60° entgegen der Förderrichtung F geneigt. In dieser Stellung wird durch die erste Greiferbacke 11 daher eine weitgehend ebene Auflagefläche gebildet. Gegenstände 100 können nun entlang dieser Auflagefläche in die geöffneten Greifer 10 eingeführt werden (Fig. 4). Die Gegenstände 100 schlagen am Anschlag 16 an und werden gegebenenfalls durch die Ausrichteeinheit 60 seitlich ausgerichtet (Fig. 2). Bei Bedarf können weitere Zuführeinheiten 70 vorhanden sein, die weitere Gegenstände auf die bereits aufgenommenen Gegenstände 100 auflegen. Dabei sind die Gegenstände 100 durch die erste Greiferbacke 11 flächig von unten abgestützt.

The following describes the function of the device 1 and the gripper 10, especially with regard to the controlled transfer of products to the removal device 50:

• The length L of the lever 41 and the distance d (s. Fig. 3b ) of its pivot axis A1 from the joint 15 are selected so that the second gripper part 14 in a view transversely to the conveying direction F is approximately aligned with the first gripper part 13 when the conveyor track U is straight. This situation is in Fig. 4 +5 shown. The lever 41 is oriented perpendicular to the conveying direction F. The gripper parts 13, 14 are about 20-60 ° inclined to the conveying direction F. In this position, therefore, a largely flat bearing surface is formed by the first gripper jaw 11. Objects 100 can now be introduced into the opened gripper 10 along this support surface ( Fig. 4 ). The articles 100 strike against the stop 16 and are laterally aligned by the alignment unit 60, if necessary (FIG. Fig. 2 ). If necessary, further supply units 70 may be present, which place further objects on the objects 100 already received. The objects 100 are supported by the first gripper jaw 11 surface from below.

After the lateral alignment, the grippers 10 are closed at the closing point S2. The objects are clamped between the second gripper jaw 12 and the first gripper part 13 of the first gripper jaw 11. In the clamped state they are conveyed over any distance along the conveyor track U. As Fig. 5 shows, the conveying is possible upside down. The trailing free edges 101 of the articles 100 preferably hang freely or slide on a stationary support surface 80 or are supported by a traveling conveyor such as a belt.

The objects are delivered in a curved part of the conveyor track U. During the transition from the linear to the curved part, the distance between the second pivot axis A2 and an arbitrary point on the first gripper part 13 (eg to the joint 15) increases. Since the length L of the lever 41 is constant, the second gripper part 14 is pivoted relative to the first gripper part 13 and pulled towards the conveying member 20. This is in Fig. 3a shown in the left part of the drawing. The length of the lever 41 and the position of the axes A1, A2 are selected so that the second gripper part 14 at least approximately in the region of the joint 15 (or the reinforcing element 42) approximately concentric (with a dimensionally stable and curved second gripper part 14) or tangentially ( in a flexible second gripper part 14) to the conveyor track U is aligned. If the conveyor track U in Transfer region is described for example by a circular segment with radius R and center M, so the second gripper part 14 extends approximately tangentially to respectively on a circle segment K with larger radius R '> R and the same center M. In a dimensionally stable and curved second gripper part 14 corresponds to his Curvature thus the reciprocal of this larger radius K '. The conveying surface 51 of the removal device 50 also runs tangentially to this circle segment K. The speed of the delivery surface 51 is preferably at least approximately equal to the speed of the articles 100, and thus also approximately equal to the speed of the gripper on the circle segment K.

The second gripper parts 14 therefore press an object 100 flat against the conveying surface 51, while it is discharged from the gripper 10. Since the second gripper parts 14 are formed concentrically to the trajectory or flexible, they roll together with the object 100 on the conveying surface 51 and accompany the article 100 in the transfer until its leading edge 102 has left the gripper 10.

Alternatively, the orientation of the second gripper parts 14 can also be controlled such that the second gripper parts 14 extend approximately parallel to the conveying surface 51 at least in a partial region of the transfer region and accompany the article 100 in this way.

The gripper 10 is opened when or after the clamping or stabilizing effect between the second gripper part 14 and conveying surface 51 has been produced. This is in Fig. 3b shown. It thus succeeds a well-controlled transfer, in which the objects are performed until their leading edges 102 have left the gripper 10.

Fig. 6 shows a further gripper 10, which basically like the gripper Fig. 1 is constructed. Corresponding parts are provided with the same reference numerals. In the following, only the differences will be discussed.

The main difference lies in a flexible extension 90, which is connected to the pivotable second gripper part 14 of the extended first gripper jaw 11. The extension 90 is a thin, rectangular in plan view element, which is flexible by suitable choice of the form or the material. The extension 90 consists for example of spring steel.

In each case an extension 90 is located on the outer lateral edge of that edge of the second gripper part 14, which faces the hinge 15. The extension 90 points toward the gripper mouth or the stop 16 and is in alignment with the second gripper part 14. In the state in which the first and second gripper parts 13, 14 form a continuous, essentially flat support surface with one another and are aligned with one another ( Fig. 6 ), the extension 90 rests on the first gripper part 13. Thus, the top 91 of the extension 90 does not protrude from the support surface, but aligned with this, the second gripper part 13 has a region 13c of reduced thickness, in which its top is slightly curved.

Fig. 7 shows the state in which first and second gripper parts 13, 14 relative to each other from the straight position ( Fig. 6 ) are pivoted. The extension 90 is now lifted from the first gripper part 13.

As in particular from Fig. 8 can be seen, the second gripper part 13 is in contrast to Fig. 1 not rectangular, but designed to be bulging towards the outer end.

The function of the extensions 90 is based on Fig. 9a + b explained: The objects 100 are deformed in the transfer to the removal device 50, since its leading edge 102 is still held between the first gripper part 13 and the second gripper jaw 12 and bent upward, while the trailing part of the article 100 already on the horizontal conveying surface 51 rests and is pressed by the second gripper member 14 against the conveying surface 51. When opening the gripper 10, the lifted front edge 102 provides a surface for attacking the airstream. It can therefore happen that the object 100 is not filed clean, but shifts when depositing. This is undesirable.

The projections 90 counteract the lifting of the conveying surface 51 by also pressing the leading part of the article after opening the gripper 10 on the conveying surface 51. As a result, a gap between the article 100 and the conveying surface 51 is closed immediately after opening the gripper 10. In the closed state of the gripper 10 of the extension 90 is bent because of its flexibility as the gripped object 100. When open, he takes his in 6 and 7 shown rest position.

Claims (17)

1. A device for conveying and releasing flat objects (100), in particular printed products, with the following features:

   - a plurality of grippers (10) which are movable in a conveying direction (F) along a closed conveying path (U) defined by a conveyor member (20);

   - the grippers (10) comprise a first and a second gripper jaw (11, 12) which relative to one another may assume a clamping position and an open position;

   - a conveying-away device (50) with a conveyor rest (51) wherein the conveying away device in a transfer region of the conveying path (U) is capable of cooperating with the grippers (10), in a manner such that objects (100) which are released from the grippers (10) are deposited onto the conveyor rest (51).

   characterised by the following features:

   - the first gripper jaw (11) is extended with respect to the second gripper jaw (12) and comprises a first gripper part (13) which in the clamping position cooperates with the second gripper jaw (12), and a second gripper part (14) which in the clamping position projects beyond the second gripper jaw (12);

   - the orientation of the first and second gripper parts (13, 14) of the first gripper jaw (11) relative to one another is variable and may be set with a control device (40).
2. A device according to claim 1, wherein the conveyor rest (51) is a belt conveyor.
3. A device according to claim 2, characterised in that the second gripper parts (14) are movable, controlled in a manner such that the objects (100) in the transfer region are pressed by the second gripper parts (14), in particular in a surfaced manner, against the conveyor rest (51), before, during and after the opening of the grippers (10).
4. A device according to one of the claims 2 or 3, characterised in that the conveying path (U) is arcuate in the transfer region and the orientation of the second gripper parts (14) in the transfer region is controlled in a manner such that the second gripper parts (14) are aligned essentially concentrically to the conveying path (U) and/or in a manner adapted to the conveyor rest (51).
5. A device according to one of the preceding claims, characterised in that the first gripper part (13) is shape-stable and that the second gripper part (14) is connected to the first gripper part (13) by way of a flexible connection (15), in particular by way of a joint.
6. A device according to one of the preceding claims, characterised in that the second gripper part (14) is shape-stable and arcuate, wherein preferably a radius of curvature of an outer surface of the second gripper part (14) is selected such that when the second gripper part (14) is located in a transfer region of the conveying path (U), the outer surface of the second gripper part (14) runs essentially concentrically to the conveying path (U).
7. A device according to one of the preceding claims, characterised in that the second gripper part (14) is flexible, in particular consists of an elastic material or has shape elasticity.
8. A device according to one of the preceding claims, characterised in that the control device (40) comprises a control element (41) which cooperates with the second gripper part (14), in order to sets its orientation relative to the first gripper part (13).
9. A device according to claim 8, characterised in that the control element comprises a lever (41) which is pivotably mounted on the second gripper part (14) about a first pivot axis (A1) as well as on a bearing element (43) about a second pivot axis (A2), in a manner such that the orientation of the lever (41) relative to the conveying path (U) changes in dependence on the curvature of the conveying path (U), wherein the bearing element (43) is formed by a subsequent gripper (10) or is arranged thereon or is arranged on the conveyor member (20) between two grippers (10).
10. A device according to one of the preceding claims, characterised in that the first gripper jaw (11), at least in the open position, forms a rest surface for the objects (100).
11. A device according to one of the preceding claims, characterised by an aligning unit (60) for aligning the objects (100) in the opened grippers (10) transversely to the conveying direction (F).
12. A device according to one of the preceding claims, characterised by a switchable opening element (35) which acts on a locking (33) of the grippers (10) and selectively activates or does not activate the opening of a gripper (10) in a transfer region of the conveying path (U).
13. A device according to one of the preceding claims, characterised by at least one flexible continuation (90) which is connected the second gripper part (14) and projects from this, wherein the continuation (90), depending on the relative position of the two gripper parts (13, 14), bears on the rest surface of the first gripper part (13) or is lifted therefrom.
14. A method for conveying and releasing flat objects (100), in particular printed products, with a device according to one of the preceding claims, with the following steps

    - moving the closed grippers (10), with objects (100) received therein, to a transfer region and opening the grippers (10) in the transfer region;

    - controlled movement of the second gripper parts (14) in a manner such that the second gripper parts (14) press the objects (100) in the transfer region against a conveyor rest (51) of a conveying-away device (50).
15. A method according to claim 14, characterised in that the second gripper parts (14) hold the objects (100) in the transfer region against the conveyor rest (51), before the gripper (10) is opened.
16. A method according to claim 14 or 15, characterised in that the orientation of the second gripper parts (14), on transfer of the objects (100), is set essentially concentrically to the conveying path (U) and/or in a manner adapted to the conveying rest (51).
17. A method according to one of the claims 15 to 16, characterised in that the objects (100) in the opened grippers (10) are aligned transversely to the conveying direction (F) and the grippers (10) are subsequently closed.

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