EP2706029B1 - Dispositif d'orientation de feuilles doté d'un support à bras articulé - Google Patents

Dispositif d'orientation de feuilles doté d'un support à bras articulé Download PDF

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Publication number
EP2706029B1
EP2706029B1 EP13178662.6A EP13178662A EP2706029B1 EP 2706029 B1 EP2706029 B1 EP 2706029B1 EP 13178662 A EP13178662 A EP 13178662A EP 2706029 B1 EP2706029 B1 EP 2706029B1
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EP
European Patent Office
Prior art keywords
alignment
sheet
aligning
alignment device
joints
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.)
Active
Application number
EP13178662.6A
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German (de)
English (en)
Other versions
EP2706029A2 (fr
EP2706029A3 (fr
Inventor
Andreas MÜLLER
Dr. Burkhard Wolf
David Ehrbar
Michael ÖSTREICHER
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.)
Masterwork Group Co Ltd
Original Assignee
Heidelberger Druckmaschinen AG
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 Heidelberger Druckmaschinen AG filed Critical Heidelberger Druckmaschinen AG
Publication of EP2706029A2 publication Critical patent/EP2706029A2/fr
Publication of EP2706029A3 publication Critical patent/EP2706029A3/fr
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Publication of EP2706029B1 publication Critical patent/EP2706029B1/fr
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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
    • B65H9/00—Registering, e.g. orientating, articles; Devices therefor
    • B65H9/10—Pusher and like movable registers; Pusher or gripper devices which move articles into registered position
    • B65H9/103—Pusher and like movable registers; Pusher or gripper devices which move articles into registered position acting by friction or suction on the article for pushing or pulling it into registered position, e.g. against a stop
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H11/00—Feed tables
    • 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
    • B65H2301/44—Moving, forwarding, guiding material
    • B65H2301/443—Moving, forwarding, guiding material by acting on surface of handled material
    • B65H2301/4433—Moving, forwarding, guiding material by acting on surface of handled material by means holding the material
    • B65H2301/44331—Moving, forwarding, guiding material by acting on surface of handled material by means holding the material at particular portion of handled material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2403/00—Power transmission; Driving means
    • B65H2403/50—Driving mechanisms
    • B65H2403/53—Articulated mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2403/00—Power transmission; Driving means
    • B65H2403/50—Driving mechanisms
    • B65H2403/53—Articulated mechanisms
    • B65H2403/532—Crank-and-rocker mechanism
    • B65H2403/5321—Crank-and-rocker mechanism with oscillating crank, i.e. angular movement of crank inferior to 360
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2801/00—Application field
    • B65H2801/42—Die-cutting

Definitions

  • the invention relates to a device for aligning arcuate elements according to the preamble of claim 1.
  • punching 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.
  • 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 designatedWhentrenn arthritis.
  • 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.
  • 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.
  • the slip can quickly become dirty, which affects its function.
  • the linear bearings therefore often have to be cleaned and lubricated. Also, play can arise between sled and track.
  • the DE 10 2011 114 707 A1 discloses a method of conveying a flat article and an apparatus for carrying out the method having the features of the preamble of claim 1.
  • 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.
  • the inventive device for aligning transported to a sheet processing machine arcuate elements comprises an alignment, which in the circumferential direction, lateral direction and / or oblique direction, for aligning a respective arcuate element in the transport plane.
  • 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.
  • the retaining element has a contact surface lying essentially in the transport plane for the arc-shaped elements to be aligned.
  • the alignment device is assigned a drive for moving the alignment device in the circumferential, lateral and oblique directions.
  • the device has a machine frame, which serves as a support structure.
  • at least one two-membered Articulated arm provided for supporting the alignment, comprising three joints, which each form 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 the coupling rotatably connected to the alignment device.
  • 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.
  • 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.
  • the alignment device is freely displaceable in the transport plane and, together with the alignment device, a respective arcuate element can be aligned.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 Zunnenschläuche. The number of wearing parts in the device for aligning is thus reduced and increases its life.
  • the device for aligning has a frame-fixed drive and a co-moving with the alignment device output for actuating switching elements on the alignment.
  • 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.
  • 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.
  • the power transmission system is designed as a linkage system arranged parallel to the articulated arms.
  • 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.
  • 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.
  • 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 64.1 and two couplings 64.2.
  • a first joint 64.1 is rotatably connected to the machine frame 5.
  • a second joint 64.1 rotatably connects the two couplings 64.2 with each other.
  • a third joint 64.1 establishes a rotatable connection with the alignment device 61.
  • drives 63 are integrated. All drives 63 can be controlled independently of each other.
  • 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.
  • 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.
  • 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 actual position is calculated in a machine controller 15, not shown here, which alignment requirement for a respective sheet 6 is.
  • a distinction is made between an alignment requirement in the circumferential direction U, in the lateral direction S and in the oblique direction D.
  • 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.
  • 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 orientation 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.
  • the storage and the drive of the alignment device 61 is effected by respective independent elements.
  • 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.
  • an air channel 65 is formed in the interior of the articulated arm 64, ie in the joints 64.1 and in the coupling 64.2.
  • the air channel 65 is connected via a Saugluftan gleich 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.
  • 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.
  • 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.
  • FIG. 4b is a further development of the power transmission system 70 from FIG. 4a shown.
  • 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 is working.
  • FIG. 5a an alternative embodiment of the power transmission system 70 is shown:
  • 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.
  • FIG. 5b Another alternative embodiment of the power transmission system 70 is shown in FIG. 5b
  • the force is transmitted from the drive 75 via gears 74 to the output 76.
  • 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.
  • FIGS. 6a to 6c various application examples for the actuation of switching elements 62, 68, 69 by the output 76 are shown FIG. 6a .
  • 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.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Registering Or Overturning Sheets (AREA)
  • Specific Conveyance Elements (AREA)
  • Manipulator (AREA)
  • Pile Receivers (AREA)
  • Replacement Of Web Rolls (AREA)

Claims (13)

  1. Dispositif (60) pour l'alignement d'éléments se présentant sous forme de feuilles (6), notamment des feuilles de papier, papier-carton ou carton, comprenant un dispositif d'alignement (61), mobile dans le sens circonférentiel (U), latéral (S) et oblique (D), destiné à l'alignement d'un élément en forme de feuille (6) dans un plan de transport (E) dans le sens circonférentiel (U), latéral (S) et oblique (D), avec au moins un élément de maintien (62) pour le maintien des éléments en forme de feuille (6), et comprenant un entraînement (63) affecté au dispositif d'alignement (61) pour le déplacement du dispositif d'alignement (61) dans le sens circonférentiel (U), latéral (S) et/ou oblique (D),
    caractérisé par le fait
    qu'au moins un bras articulé (64) en deux parties est prévu pour la fixation du dispositif d'alignement (61), présentant trois articulations (64.1) et deux accouplements (64.2), pour lequel la première articulation (64.1) relie avec possibilité de rotation l'un des deux accouplements (64.2) avec un bâti de machine (5), la deuxième articulation (64.1) relie les deux accouplements (64.2) ensemble avec possibilité de rotation et la troisième articulation (64.1) relie l'autre accouplement (64.2) avec possibilité de rotation avec le dispositif d'alignement (61), une articulation respective présentant un axe de rotation orienté verticalement par rapport au plan de transport (E),
    pour lequel
    le dispositif (60) possède trois bras articulés (64) et un moteur (63.1, 63.2) est respectivement intégré dans un bras articulé (64) correspondant.
  2. Dispositif d'alignement selon la revendication 1,
    caractérisé par le fait
    que les articulations (64.1) possèdent des paliers sans jeu, qui sont notamment exempts d'entretien, lubrifiés à vie et étanchés.
  3. Dispositif d'alignement selon l'une des revendications précédentes,
    caractérisé par le fait
    que l'entraînement (63) présente trois moteurs (63.1, 63.2), un moteur (63.2) provoquant un déplacement dans le sens latéral (S) et deux moteurs (63.1) pouvant être pilotés indépendamment l'un de l'autre provoquant un déplacement du dispositif d'alignement (61) dans le sens circonférentiel (U).
  4. Dispositif d'alignement selon l'une des revendications 1 à 3,
    caractérisé par le fait
    qu'un moteur respectif (63.1, 63.2) est exécuté comme moteur linéaire.
  5. Dispositif d'alignement selon l'une des revendications précédentes,
    caractérisé par le fait
    que l'élément de maintien (62) est réalisé comme plaque-ventouse.
  6. Dispositif d'alignement selon la revendication 5,
    caractérisé par le fait
    qu'au moins un bras articulé (64) possède dans ses accouplements (64.2) et articulations (64.1) un conduit d'air (65) continu pour la fourniture d'un air d'aspiration à la plaque-ventouse (62).
  7. Dispositif d'alignement selon la revendication 5 ou 6,
    caractérisé par le fait
    que la plaque-ventouse (62) dispose de plusieurs chambres d'aspiration ou conduits d'aspiration pilotables indépendamment les uns des autres.
  8. Dispositif d'alignement selon l'une des revendications précédentes,
    caractérisé par le fait
    que le dispositif (60) présente une unité de saisie (66) pour la détermination de la position réelle d'un élément (6) en forme de feuille respectif et une unité de commande (15) pour le calcul des besoins d'alignement, l'unité de saisie (66) et l'entraînement (63) étant reliés avec l'unité de commande (15) par un système de transmission de données.
  9. Dispositif d'alignement selon l'une des revendications précédentes,
    caractérisé par le fait
    que le dispositif (60) présente un entraînement (75) fixe sur le bâti et une sortie (76) mobile avec le dispositif d'alignement (61) pour l'actionnement d'éléments de commutation (62, 68, 69) sur le dispositif d'alignement (61),
    un système de transmission de la force (70) étant disposé parallèlement au bras articulé (64) en deux parties minimum pour la transmission d'une force de l'entraînement (75) sur la sortie (76).
  10. Dispositif d'alignement selon la revendication 9,
    caractérisé par le fait
    que le système de transmission de la force (70) possède des accouplements (72) disposés parallèlement à un accouplement respectif (64.2), un accouplement respectif (72) étant fixé via des leviers dans les points d'articulation des articulations (64.1).
  11. Dispositif d'alignement selon la revendication 9,
    caractérisé par le fait
    que le système de transmission de la force (70) possède des courroies (73) disposées parallèlement à un accouplement respectif (64.2), les courroies (73) étant guidées sur des poulies (77) et une poulie respective étant fixée dans les points d'articulation des articulations (64.1).
  12. Dispositif d'alignement selon la revendication 9,
    caractérisé par le fait
    que le système de transmission de la force (70) est fixé via plusieurs pignons (74) s'engrenant, pour lequel un pignon (74) est fixé dans un point d'articulation des articulations (64.1).
  13. Dispositif d'alignement selon l'une des revendications 9 à 12,
    caractérisé par le fait
    que les éléments de commutation sont constitués par au moins une pince (62) pour le maintien d'un élément en forme de feuille (6), par au moins un taquet avant (69) pour freinage d'un élément en forme de feuille (6) et/ou par une vanne (68) d'une plaque-ventouse (62).
EP13178662.6A 2012-09-06 2013-07-31 Dispositif d'orientation de feuilles doté d'un support à bras articulé Active EP2706029B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102012017634 2012-09-06

Publications (3)

Publication Number Publication Date
EP2706029A2 EP2706029A2 (fr) 2014-03-12
EP2706029A3 EP2706029A3 (fr) 2017-11-08
EP2706029B1 true EP2706029B1 (fr) 2019-01-16

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Country Link
EP (1) EP2706029B1 (fr)
CN (1) CN103662906B (fr)
DE (1) DE102013012883A1 (fr)
ES (1) ES2711538T3 (fr)

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ES2711538T3 (es) 2019-05-06
DE102013012883A1 (de) 2014-03-06
CN103662906B (zh) 2016-11-23
EP2706029A2 (fr) 2014-03-12
EP2706029A3 (fr) 2017-11-08
CN103662906A (zh) 2014-03-26

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