EP2706029A2 - Device for aligning sheets with articulated arm bearing - Google Patents

Abstract

The device (60) has an aligning apparatus (61) for aligning a curved element (6) in a transport plane. A holding element holds the element, and a drive is attached to the apparatus for moving the apparatus. A two-piece joint arm (64) supports the apparatus, and has first, second and third joints (64.1) and two couplers (64.2). The first joint couples one of the couplers with a machine frame (5), and the second joint couples the couplers with one another. The third joint connects another coupler with the apparatus, where each joint has a rotational axis aligned perpendicular to the plane. The holding element is designed as a suction plate.

Description

The invention relates to a device for aligning arcuate elements according to the preamble of claim 1.

State of the art

As punching the cutting is referred to with closed geometric blank forms that can be circular, oval or polygonal and imaginary shapes of all kinds. Also the practices practiced in print finishing, such as punching with punch, corner punching and register punching are counted to this area. The punching takes place against a punching pad or against stamp, in some cases it is also shearing operations. Plastic, film, paper, cardboard, cardboard or corrugated board packaging materials are mainly stamped in sheet format. When punching but also creasing lines or blind embossing can be introduced into the benefit. This complex process makes it indispensable to punch the sheets individually. Since the end products are sophisticated packaging in terms of technical and graphic design (such as packaging for cosmetics, cigarettes, pharmacy, food, etc.), special requirements are not only placed on the packaging materials themselves, but are also punching tools for optimum results required with the smallest tolerances and extremely precise and reliable punching machines. Flatbed punching best meets these demands. The printed sheets stacked on a pallet are fed to the punching machine. In the machine, the sheets to be punched are precisely aligned in an alignment device, taken over by a gripper carriage and positioned exactly in the punching device between a fixed undercounter and a vertical over a knee lever or eccentric upper table.

In known sheet punching and embossing machines that are used for punching, embossing, breaking, if necessary. Nutzentrennen and storing sheets of paper, cardboard and the same, it is known to move the sheet by means of gripper carriage through the individual stations of the machine. A respective gripper carriage has a gripper bridge, are attached to the gripper, which grip the bow at a front end. A gripper carriage further has lateral carriages, which are connected to endless chains of the transport system and whereby the gripper carriage to be moved by the machine. By this type of movement of the sheet through the machine a continuous work in the individual successively arranged stations of the machine, in particular punching, break-away and Nutzentrennstation allowed.

Such a flat bed punch is for example from the DE 30 44 083 A1 and the US 7,658,378 B2 known. The two tables are equipped with cutting and scoring tools or corresponding counter tools, with which punched out of the cyclically guided between the table surface sheet benefits and at the same time pressed the necessary for clean folding grooves. In the subsequent breakout the waste is removed by machine tools. Depending on the equipment of the machine finally the punched benefits can be separated in a designated Nutzentrenneinrichtung.

The DE 600 02 942 T2 discloses a device for positionally accurate alignment of sheets. Arcs from a pile of sheets are measured in their position and aligned in the movement. For this purpose, a movable plate is provided on all sides, which has a clamping mechanism for holding the bow. The plate is slidable via two slide slide rail systems. A disadvantage of such a device is on the one hand, the complicated structure in two levels and the susceptibility to dirt of the open slide slide rail systems. As there is always paper dust in the paper-sheet processing area, the slip can quickly become dirty, which affects its function. During the life of the machine, the linear bearings therefore often have to be cleaned and lubricated. Also, play can arise between sled and track.

Since the plate must be performed as free of play, to an exact alignment of the However, allow very small tolerances for the slide slide rail systems. If the game is too big, the linear bearings have to be exchanged.

task

Object of the present invention is to provide a device for aligning arcuate elements, which at least reduces the disadvantages known from the prior art, thereby represents a less expensive solution and is less critical with respect to contamination. In other words, a simpler, cheaper storage with a longer service life should be created.

This object is achieved by a device for aligning arcuate elements with the features of claim 1. The inventive device for aligning transported to a sheet processing machine arcuate elements, in particular sheets of paper, cardboard or cardboard comprises an alignment, which in the circumferential direction, lateral direction and / or oblique direction, for aligning a respective arcuate element in the transport plane. In other words, alignment of each arcuate element in three degrees of freedom is possible: circumferential, lateral and oblique. The orientation in oblique direction means a rotational movement of the arcuate element in its transport plane. The alignment device has at least one holding element for holding, gripping or clamping the arcuate elements. In this case, the retaining element has a contact surface lying essentially in the transport plane for the arc-shaped elements to be aligned. Furthermore, the alignment device is assigned a drive for moving the alignment device in the circumferential, lateral and oblique directions. Also, the device has a machine frame, which serves as a support structure. According to the invention, at least one two-link articulated arm is provided for supporting the alignment device, comprising three joints, each forming rotary joints and two coupling, the first joint one of the two rotatable couples with a machine frame, the second joint, the two couplings rotatably with each other and the third joint paddock rotatably connected to the alignment device. The term coupling comprises according to this understanding both coupling-shaped elements without frame-fixed pivot point as well as lever-shaped elements with frame-fixed pivot point. Advantageously, the axis of rotation of a respective joint is aligned substantially perpendicular to a transport plane of the arcuate elements, wherein a respective joint is designed as a hinge and a respective coupling opens a degree of freedom as a rotational movement. As a result, the alignment device is freely displaceable in the transport plane and, together with the alignment device, a respective arcuate element can be aligned. It is particularly advantageous if the joints have play-free bearings, which in particular are maintenance-free, lubricated for life and sealed. Such a device is advantageously less susceptible to dirt, paint particles, powder and paper dust. At the same time a very exact storage of the alignment is guaranteed.

In an advantageous development of the device for aligning the drive has three motors, wherein a motor can cause a movement in the lateral direction and two independently controllable motors each movement of the alignment in the circumferential direction and due to the independent controllability in oblique direction.

In an advantageous development of the invention, the device has three articulated arms and in each articulated arm, a motor is integrated in each case. The engine can be designed as a gearless, rotary direct motor, also referred to as a torque motor. Since motors are integrated directly into the articulated arms in this embodiment, eliminating points of articulation between a respective motor and the alignment, the motors are equally protected against dust and dirt particles and the device for aligning can have a very compact design.

As an alternative to the described integrated torque motors and linear motors or motors which are connected via coupling with the alignment device can be used.

In a particularly advantageous and therefore preferred embodiment of the device according to the invention, the at least one retaining element is designed as a suction plate for sucking and holding a respective arcuate element by means of negative pressure. The suction plate can have a plurality of suction chambers or suction channels, which can be activated depending on the sheet format of the arcuate elements. It is particularly advantageous that such a holding element leaves no marks on the arcuate elements, so that the quality of the arcuate elements is not affected by the orientation. As an alternative to the embodiment as a suction plate, the holding elements can also be designed as grippers, clamps, contact rollers, contact balls or other relevant holding elements known to those skilled in the art.

In an advantageous development of the device according to the invention, at least one articulated arm in its couplings and joints has a continuous air duct for providing a suction air to the suction plate. This air duct can be conductively connected to a vacuum source or a vacuum generator. This makes it possible to dispense with connected to the suction plate and mitbewegte each alignment movement Zuführschläuche. The number of wearing parts in the device for aligning is thus reduced and increases its life.

In an alternative development of the device for aligning the device has a frame-fixed drive and a co-moving with the alignment device output for actuating switching elements on the alignment. According to the invention, a power transmission system is arranged parallel to the at least two-part articulated arm for transmitting a force from the drive to the output. This ensures that the force can be transmitted independently of the movement and the position of the articulated arms. Such an embodiment has the advantage that it is possible to dispense with drives located on the alignment device and the moving mass of the alignment device remains low. In a first alternative embodiment, the power transmission system has in each case arranged parallel to a respective coupling further coupling, wherein a respective further coupling via Lever is mounted in the articulation points of the joints. In other words, the power transmission system is designed as a linkage system arranged parallel to the articulated arms.

In a second embodiment variant, the power transmission system each has parallel to a respective coupling belt arranged, wherein the belt are guided on pulleys and a respective pulley is mounted in the hinge points of the joints.

In a third embodiment variant, the power transmission system has gear wheels meshing with each other, wherein in each case a gear is mounted in a hinge point of the joints.

The shifting elements which are engaged by the output may be at least one gripper for holding an arcuate element, at least one leading edge for braking an arcuate element, or a valve, e.g. Rotary valve of a Saugplate act.

The described invention and the described advantageous developments of the invention are also in any combination with each other advantageous developments of the invention.

With regard to further advantages and constructive and functional aspects of advantageous embodiments of the invention, reference is made to the dependent claims and the description of embodiments with reference to the accompanying drawings.

embodiment

• Fig. 1: eine Stanzmaschine mit einer erfindungsgemäßen Vorrichtung zum Ausrichten
• Fig. 2a: eine erste Ausführungsvariante der Vorrichtung zum Ausrichten
• Fig. 2b: eine zweite Ausführungsvariante der Vorrichtung zum Ausrichten
• Fig. 2c: eine dritte Ausführungsvariante der Vorrichtung zum Ausrichten
• Fig. 3: einen Schnitt durch einen Gelenkarm mit integriertem Saugkanal
• Fig. 4a und b: die Vorrichtung zum Ausrichten mit einem zusätzlichen Kraftübertragungssystem
• Fig. 5a und b: eine alternative Ausbildung des Kraftübertragungssystems
• Fig. 6a bis c: verschiedene Anwendungen eines Abtriebes

The invention will be explained in more detail with reference to preferred embodiments. It show in a schematic representation

• Fig. 1 a punching machine with a device according to the invention for aligning
• Fig. 2a a first embodiment of the device for aligning
• Fig. 2b a second embodiment of the device for aligning
• Fig. 2c a third embodiment of the device for aligning
• Fig. 3 : a section through an articulated arm with integrated suction channel
• Fig. 4a and b: the device for aligning with an additional power transmission system
• Fig. 5a and b: an alternative embodiment of the power transmission system
• Fig. 6a to c: different applications of an output

Corresponding elements and components are provided in the figures with the same reference numerals.

An arc 6 coming from a sheet feeder 1 becomes - as in Fig. 2a shown aligned by the alignment device 60 before being transferred to a gripper carriage 8 and further transported to the stamping station 2.

The alignment device 60 has an alignment device 61 which is movable in the circumferential direction U, in the lateral direction S and in the oblique direction D. The alignment device 61 is supported by three articulated arms 64. A respective articulated arm has three joints 46.1 and two couplings 46.2. A first joint 46.1 is rotatably connected to the machine frame 5. A second joint 46.1 rotatably connects the two couplings 46.2 with each other. A third hinge 46.1 establishes a rotatable connection with the alignment device 61. In a respective articulated arm 64 drives 63 are integrated. All drives 63 can be controlled independently of each other. In this case, two drive motors 63.1 are provided, which allow an alignment movement of the alignment device 61 in the circumferential direction and oblique directions U and D, and a further drive motor 63.2, which permits an alignment movement of the alignment device 61 in the lateral direction S. The drive motors 63.1 and 63.2 are designed as torque motors.

Of the alignment device 60 is a respective sheet 6 in the sheet transport direction T, ie in the circumferential direction U, perpendicular to the transport direction T, ie in the lateral direction S, and aligned by a rotation D in the transport plane. For this purpose, sensors 66 or cameras for detecting sheet edges, a mark and / or an edge can be provided in the printed image. Based on this determined IstPosition is calculated in a machine controller 15, not shown here, which alignment requirement for a respective sheet 6 is. In this case, a distinction is made between an alignment requirement in the circumferential direction U, in the lateral direction S and in the oblique direction D. According to the respective alignment requirement 15 drives 63 are controlled by the machine control.

The alignment device 61 has at least one holding element 62 for holding a respective sheet 6 during its alignment. For clarity, this is at least one holding element 62, which may be designed as a gripper, clamp, contact element or suction plate, in the FIGS. 2a to 2c not shown.

In Fig. 2b an alternative embodiment of the device for aligning 60 is shown: the alignment 61 is supported by only one articulated arm 64 and is also in its three degrees of freedom in the circumferential direction U, in the lateral direction S and in the oblique D positionable. The alignment of the alignment device 61 is done by three positioning, in which drive motors 63.1 and 63.2 are integrated. The alignment in the circumferential direction U and in the oblique direction D is effected by two drive motors 63.1 and the alignment in the lateral direction S by a drive motor 63.2. In contrast to the variant of Fig. 2a the storage and the drive of the alignment device 61 is effected by respective independent elements.

Also in the further embodiment, which in Fig. 2c is shown, storage and drive of the alignment device 61 are independent of each other. Instead of the positioning arms, however, linear motors are used as drive motors 63.1 and 63.2. A respective linear motor 63.1, 63.2 is connected by means of a coupling element 67 with the alignment device 61.

Fig. 3 shows a section through an articulated arm 64, which has three joints 64.1 and two coupling 64.2, wherein one joint 64.1 is rotatably connected to the machine frame 5 and another joint 64.1 is rotatably connected to a holding member 62. The holding member 62 is formed as a suction plate with a plurality of suction nozzles 65.1. In the interior of the articulated arm 64, ie in the joints 64.1 and in the coupling 64.2, an air channel 65 is formed. The air channel 65 is connected via a Saugluftanschluss 65.3 with a vacuum source, not shown, or a vacuum generator, so that at the suction nozzles 65.1 a suction air can be provided for holding a respective sheet to be aligned 6. In spite of the rotational mobility of the articulated arm 64 in its joints 64.1 the leakage to keep the air duct 65 minimal, sealed angular contact ball bearings 65.4 sealed in the joints 64.1 and 64.2 gap seals 65.2 are used at the transitions of the air duct 65 between joints 64.1 and coupling.

If the alignment device 60 has only one articulated arm 64, then it is provided with the described air channel 65. However, if the alignment device 60 has a plurality of articulated arms 64, it is sufficient that one of these is provided with an air channel 65. However, if the suction plate 62 is to be provided, for example, with independently controllable suction chambers or suction channels, each of the articulated arms 64 can also have an air channel 65. In the suction plate 62 then distribution channels can be integrated (not shown), which provide the suction air format dependent. That the distribution channels are opened depending on the width of a respective sheet 6, so that, for example, in the edge regions of the suction plate 62, only a suction air is provided when the sheet 6 extends so far.

FIG. 4a shows a first embodiment of a power transmission system 70 for a device for alignment 60. The device for aligning 60 is designed as described above and has at least one articulated arm 64, which has two couplings 64.2. Parallel to the coupling 64.2, a power transmission system 70 is arranged, which transmits an actuating force from a drive 75 which is fixed to the frame to an output 76 which is moved with the alignment device 61. The power transmission system 70 has for this purpose two coupling 72, which by means of Levers 71 are mounted in the joints 64.1 of the articulated arms 64. The length of the coupling 72 corresponds to the distance of the hinge points of the coupling 64.2. Even if the articulated arm 64 is moved to align the alignment device 61, the couplers 72 remain aligned parallel to the couplings 64.2 and the movement of the articulated arms 64 has no effect on the transmission. If the drive 75 is connected to the lever 71 and not integrated into the bearing of the joint 64.1, the drive 75 must either perform a compensating movement or be decoupled during the movement of the articulated arms 64.2. This ensures that a movement of the articulated arms 64.2 has no influence on the output 76.

In FIG. 4b is a further development of the power transmission system 70 from FIG. 4a shown. Instead of the simple lever 71 and coupling 72 a double lever system is provided in this embodiment, which, however, according to the same principle of action as the power transmission system 70 of FIG. 4a works.

In FIG. 5a an alternative embodiment of the power transmission system 70 is shown: The power transmission from the drive 75 to the output 76 parallel to the coupling 64.2 by means of belt 73. The belt 73 are mounted on pulleys 77, which have their fulcrum in the pivot point of the joints 64.1 of the coupling 64.2.

Another alternative embodiment of the power transmission system 70 is shown in FIG FIG. 5b The force is transmitted from the drive 75 via gears 74 to the output 76. For this purpose, the gears 74 are mounted such that they have their fulcrum at the pivot point of the joints 64.1 of the coupling 64.2 and the gears 74 with their teeth along the extension of the articulated arm 64 are engaged, ie the first gear, which is driven by the drive 75 is engaged with a second gear and the second gear engages a third gear, which in turn drives the output 76.

In the FIGS. 6a to 6c various application examples for the actuation of switching elements 62, 68, 69 by the output 76 are shown FIG. 6a a rotary valve 68 is driven by the output 76. The rotary valve, which in a Aligned as a suction plate alignment device 61 is integrated, can be rotated and a format adjustment of the suction plate 61 to the format of the sheet 6 are made. The alignment device 61 according to FIG. 6b has front marks 69 for braking the sheet 6. The front marks 69 are moved by the output 76. The alignment device 61 according to FIG. 6c has grippers 62 for holding a respective sheet 6 during the alignment movement. The grippers 62 are driven by the output 76 and thus opened or closed.

LIST OF REFERENCE NUMBERS

1

investor

2

Punching and / or embossing station

3

stripping

4

Outrigger, if necessary with Nutzentrennstation

5

machine housing

6

bow

7

Sheet transport system

8th

Gripper carriage with grippers

9

Lower table / lower crucible

10

Upper table / upper crucible

11

trimmings

12

container

13

palette

14

delivery pile

15

Control with interface and input devices

16

Feed table with a unit for aligning the bow

17

main drive

18

suction head

20

lower tool

21

Upper tool with punches

23

Dividing grille or stripping board (lower tool)

30

Upper tool (punching tool)

60

Device for aligning

61

aligning

62

Holding element (gripper, clamp, suction plate)

63

drive

63.1

drive motor

63.2

drive motor

64

articulated arm

64.1

joint

64.2

paddock

65

air duct

65.1

suction nozzle

65.2

gap seals

65.3

suction air

65.4

sealed angular contact ball bearings

66

Sensor for detecting the sheet edge, mark and / or edge in the print image

67

coupling element

68

rotary valve

69

front lay

70

Power transmission system

71

lever

72

paddock

73

belt

74

gear

75

drive

76

output

100

Flatbed sheet punching and / or embossing machine (punching machine)

B

Sheet transport direction

e

Sheet transport plane

U

circumferentially

D

Oblique direction (rotation)

S

lateral direction

Claims (14)

Device (60) for aligning sheet-like elements (6), in particular sheets of paper, cardboard or cardboard, comprising an alignment device (61) which in the circumferential (U), side (S) and oblique direction (D) is movable to Aligning an arcuate element (6) in a transport plane (E) in circumferential (U), lateral (S) and oblique directions (D), with at least one holding element (62) for holding the arcuate elements (6), and comprising one the alignment device (61) associated drive (63) for moving the alignment device (61) in the circumferential (U), side (S) and / or oblique direction (D),
characterized,
in that at least one two-part articulated arm (64) is provided for supporting the alignment device (61), comprising three joints (64.1) and two couplings (64.2), wherein the first joint (64.1) rotates one of the two couplings (64.2) with a machine frame (64.2). 5), the second joint (64.1) the two couplings (64.2) rotatably with each other and the third joint (64.1) the other coupling (64.2) rotatably connected to the alignment device (61), and wherein a respective joint is perpendicular to the transport plane (E ) has aligned axis of rotation. Aligning device according to claim 1,
characterized,
that the joints (64.1) have backlash-free bearings that are maintenance-free, lubricated for life and sealed in particular. Aligning device according to one of the preceding claims,
characterized,
that the drive (63) has three motors (63.1, 63.2), wherein a motor (63.2) a movement in lateral direction (S) and two independently controllable motors (63.1) each have a movement of the alignment device (61) in the circumferential direction (U) effect. Aligning device according to one of the preceding claims,
characterized,
in that the device (60) has three articulated arms (64) and in each case a motor (63.1, 63.2) is integrated in a respective articulated arm (64). Aligning device according to one of claims 1 to 3,
characterized,
that a respective motor (63.1, 63.2) is designed as a linear motor. Aligning device according to one of the preceding claims,
characterized,
that the holding element (62) is designed as a suction plate. Aligning device according to claim 6,
characterized,
in that at least one articulated arm (64) has in its couplings (64.2) and joints (64.1) a continuous air duct (65) for providing a suction air to the suction plate (62). Aligning device according to claim 6 or 7,
characterized,
that the sump plate (62) has a plurality of independently controllable suction chambers or suction channels. Aligning device according to one of the preceding claims,
characterized,
that the device (60) comprises a detection unit (66) for determining the actual position of each arc-shaped element (6) and a control unit (15) for calculating the alignment requirements, wherein said detection unit (66) and the drive (63) to the control unit ( 15) data transmission technology are connected. Aligning device according to one of the preceding claims,
characterized,
in that the device (60) has a frame-fixed drive (75) and an output (76) moved together with the alignment device (61) for actuating switching elements (62, 68, 69) on the alignment device (61), parallel to the at least two-part Articulated arm (64) a force transmission system (70) is arranged for transmitting a force from the drive (75) to the output (76). Aligning device according to claim 10,
characterized,
in that the force transmission system (70) has in each case coupling (72) arranged parallel to a respective coupling (64.2), wherein a respective coupling (72) is mounted via levers in the articulation points of the joints (64.1). Aligning device according to claim 10,
characterized,
in that the power transmission system (70) in each case has parallel to a respective coupling (64.2) arranged belt (73), wherein the belts (73) are guided on pulleys (77) and a respective pulley in the articulation points of the joints (64.1) is mounted , Aligning device according to claim 10,
characterized,
in that the power transmission system (70) has mutually engaging toothed wheels (74), wherein in each case a toothed wheel (74) is mounted in an articulation point of the joints (64.1). Aligning device according to one of claims 10 to 13,
characterized,
in that the switching elements are at least one gripper (62) for holding an arcuate element (6), at least one front mark (69) for braking an arcuate element (6) and / or a valve (68) of a suction plate (62 ).

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