EP3347210B1 - Method for gripping pages and depositing same collectively, and gripping device - Google Patents

Description

The invention relates to a method for gripping sheets and their common storage to a stack in a stacking device and a gripping device for handling a plurality of individual sheets, in particular for carrying out the method.

To produce a book block consisting of several pages, in particular double pages, for a book-type document, in particular value or security document, a sheet, for example a paper sheet, is positioned on a table. Subsequently, this sheet is cut into several individual sheets. Subsequently, a first sheet is gripped with a gripper in a gripping position and moved into an unloading position to deposit this sheet in a stacking device. Subsequently, the next sheet is removed and stored again after a movement of the gripper in the tray. This is repeated until all sheets cut from the sheet are arranged one above the other in a stack in the stacking device. Subsequently, this pile of sheets is further processed into a book block.

Such a sequence of work steps results in large travel distances, which are time-consuming in terms of process technology.

The invention has for its object to propose a method and a gripping device, which allows the optimization of process times.

This object is achieved by a method in which a gripping device is used with a plurality of gripping segments, so that with each gripping segment of the gripping device individually and sequentially a sheet cut from a sheet can be recorded until a majority or all of the sheets of the sheet gripped by the gripping device are then to move the gripping device in an unloading position to a stacking device in which the recorded sheets in succession in the Stacking device are stored. This has the advantage that the number of traversing paths is considerably reduced, whereby the cycle time for picking up the individual sheets and then depositing them into a stack can be considerably reduced. The length of time for the successive laying of the sheets in the stack does not lead to a process delay, but rather can be used to already lay a new sheet on a table and cut this again, so that this process step is done until the gripping device back in a gripping position is positioned to the table to pick up the next sheets of the succeeding sheet.

It is preferably provided that the gripping device picks up the cut leaves in a predefined order and places them in the stacking device in this order. This can be done further process optimization.

Alternatively it can be provided that the gripping device picks up the cut leaves in a predefined order and places them in an order selected by a control. In this embodiment, it may be provided that the recording of the individual sheets from the table in a time-optimized sequence, so that in a sorted gripping the individual recorded sheets sorting takes place in an unloading position for storage of the individual sheets on a stack in the stacking device. This leaves more time for placing the next, to be trimmed sheet on the table and for editing.

Furthermore, it is preferably provided that each blade is gripped by a gripper segment. This results in a simple handling of the sheet, for example made of paper, which is to be securely held during a movement of the gripping device despite a resulting air flow.

It is preferably provided that the sheet is held in the gripping position by means of a vacuum or an electrostatic charge. By both methods, a secure recording of each sheet can be done.

Between a gripping position for receiving the individual sheets by the gripping segments of the gripping device and an unloading position for depositing the sheets in the stacking device, the gripping device can be fed to a processing station in which the free side of the sheets is processed. By the individual recording of the leaves by means of the gripping device, each of these sheets can be processed on the back, in particular independently of the adjacent recorded by the gripping device sheet, so that optionally an intermediate process can be integrated.

It is preferably provided that a sheet back side is printed. This can also be provided with a coating and / or embossed.

To form a book block, it is preferred that six or nine double pages be used. A sheet, in particular made of paper or a paper-like material, is therefore cut into six or nine double pages and the gripping device is adapted to this number and preferably has six or nine gripping segments.

The object underlying the invention is further achieved by a gripping device for handling sheets, which has a gripping head with a plurality of juxtaposed gripping segments, so that each of the gripping segments is provided for receiving one of the leaves and has a support surface on which the picked up Sheet is present. As a result, a so-called multiple gripping device can be created by which successively several sheets, in particular all sheets cut from a sheet, can be grasped and held. First of all, within a working area determined by the format of the sheet, a successive recording of the individual sheets can take place. Subsequently, a unique trajectory to the unloading position can be satisfied, provided that the number of gripping segments on the gripping head is equal to or greater than the number of cut sheets of a sheet to the recorded sheets individually in the

Store stacking device to form a stack.

Furthermore, it is preferably provided that the gripping segment in the bearing surface has holes for applying a vacuum. As a result, the sheet can lie flush against the support surface and can not be lifted by an air flow during the movement.

Alternatively it can be provided that the gripping segment has an electrostatically chargeable plate. This can also be achieved that a safe investment and handling of the sheet takes place without attacking with a mechanical gripper directly to the sheet. It is preferably provided that this electrostatically chargeable plate also has holes, so that by discharging air a simple unloading is possible.

The number of gripping segments on the gripping device are preferably adapted to the number of sheets cut from the sheet. This can be done a cost-optimized design of the gripping device.

Furthermore, it is preferably provided that the gripping segments are selectable controlled. Thus, a safe handling of the leaves can be made possible without interference.

The gripping head is advantageously designed as a drum or roller for the facet-shaped arrangement of the gripping segments, which is driven in rotation about an axis of rotation arranged thereon. As a result, a fast, line or line processing for receiving the individual sheets of a sheet can be made possible.

Furthermore, it is preferably provided that an axis of rotation for receiving the drum or roller is provided on a movable arrangement. In this case, for example, a multi-axis robot or a multi-axis linear system can be provided in order to enable a fast and precise control of the individual removal positions as well as the transfer to the unloading position.

• Figur 1 eine schematische Ansicht von aus einem Bogen geschnittenen Blättern, die in eine Stapelvorrichtung überzuführen sind,
• Figur 2 eine perspektivische Ansicht einer erfindungsgemäßen Greifvorrichtung, und
• Figur 3 eine vergrößerte Detailansicht der erfindungsgemäßen Greifvorrichtung in einer Bearbeitungsstation.

The invention and further advantageous embodiments and developments thereof are described in more detail below with reference to the examples shown in the drawings and explained. The features to be taken from the description and the drawings can be applied individually according to the invention or to several in any combination according to the invention. Show it:

• FIG. 1 a schematic view of sheets cut from a sheet, which are to be transferred to a stacking device,
• FIG. 2 a perspective view of a gripping device according to the invention, and
• FIG. 3 an enlarged detail view of the gripping device according to the invention in a processing station.

In FIG. 1 is a perspective sheet 12 on a table 14, in particular cutting table, shown lying. This sheet 12 is for example a sheet of paper or a paper-like material or a film which rests on the table 14 in a single layer. In particular, a paper sheet is provided, from which several sheets 16 are cut, which are then stacked in a stacking device 18 one above the other. This stack of sheets 16 formed there is further processed into a book block for a book-type document, in particular value or security document.

The sheet 12 is cut, for example, by punching or laser cutting. Preferably, six or nine sheets 16 are made from a sheet 12, these sheets 16 are in particular formed as double pages. For automatic removal of the individual sheets 16 and for depositing and stacking in the stacking device 18 according to the invention a gripping device 19 according to FIG. 2 provided, which has a gripping head 21 with a plurality of gripping segments 22 arranged thereon. This gripping device 19 is driven by a controller, not shown. These gripping segments 22 are strung together in a facet-like manner. Each of these gripping segments 22 forms a receptacle for a single sheet 16, so that it can be accommodated on the gripping segment 22 fitting. The gripping head 21 further comprises an axis 24, in particular a rotation axis 24, in order to position and grasp the individual gripping segments 22 successively clocked relative to the individual sheets 16. Through the axis 24 supply lines 26 are guided in the interior of the gripping head 21 to drive the gripping segments 22.

According to a first embodiment, it is provided that the gripping segments 22 are designed as so-called vacuum grippers. A support surface 27 for the sheet 16 has a plurality of holes, so that when applying a vacuum on the supply lines 26, the upper side of the sheet 16 of the respective sheet 16 on the support surface 27 of the gripping segment 22 fully applied and gripped without mechanical action on the sheet 16 and Gripping segment 22 is fixed.

Alternatively it can be provided that the support surface 27 is formed of an electrostatically chargeable material to fix the respective sheet 16 to the support surface 27 by means of an electrostatic charge.

The axis of rotation 24 is preferably designed as a connection means to a device, not shown, for handling the gripping device 19. This may be a multi-axis robot or a multi-axis linear drive to control a movement for receiving the individual sheets 16, as well as a subsequent movement to the stacking device 18 and discard the leaves.

The number of gripping segments 22 is preferably adapted to the number of sheets 16 per cut sheet. For example, if the gripping device 19 has nine gripping segments 22 and the sheet 12 is cut into nine sheets 16, a successive recording of the individual sheets 16 according to the arrow 30, for example, represents a trajectory to accommodate the individual sheets 16. If the gripping device 19 moves from position 1 to position 2, it only requires further indexing in the direction of rotation of the gripping head 21 about the axis of rotation 24, so that the next free gripping segment 22 directly opposite the arranged in position 2 sheet 16. Due to the facet-shaped gripping segments 22 on the gripping head 21, the adjacent gripping segments 22 also do not influence the gripping segment 22 located in the gripping position.

For the transition from position 3 to position 4 requires on the one hand a traversing movement in the X direction and a control of a rotational movement of the gripping head 21 by 3 positions, so that subsequently carried out a rolling movement of the gripping head 21 for receiving the sheets 16 from the positions 4 to 6 can be. Subsequently, a third row or column of the sheets 16 is approached to successively remove the sheets 16 from the positions 6 to 9.

Alternatively it can be provided that selectively also individual sheets 16 are received in a selected sequence by a controller not shown in detail.

After according to the embodiment in FIG. 1 all sheets 16 are removed from the table 14, a movement of the gripping device 19 takes place in an unloading position to the stacking device 18 to store the individual sheets 16 one above the other and to form a stack.

If the number of cut sheets 16 are higher than the number of gripping segments 22 on the gripping head 21, the gripping device 19 is moved back and forth between the table 14 and the stacking device 18 until all the sheets 16 in the stack are in the stacking device 18.

In FIG. 3 schematically simplified, a processing station 31 is shown, which between a gripping position, so the inclusion of the sheets 16 from the table 14 and the unloading station, so the laying of the sheets 16 in the stacking device 18 may be provided. For example, the processing station 31 may be formed as a printing station for processing a backside of the picked-up sheet 16. For example, a printing process, a coating process and / or an embossing process or the like can take place. A processing tool 32 is shown schematically, which can be positioned by a movement corresponding to the back of the sheet 16 to perform the processing. For example, a text may be provided on each sheet back at the same location or from sheet 16 to sheet 16 a corresponding adjacent text may be provided, again to form a security feature, or merely number the sheets 16.

LIST OF REFERENCE NUMBERS

• 12. bow
• 14th table
• 16. Leaves
• 18. Stacking device
• 19. Gripping device
• 21. Gripping head
• 22. Gripping segment
• 24. Rotary axis
• 26. Supply line
• 27th contact surface
• 30. arrow
• 31st processing station
• 32. Machining tool

Claims (15)

1. A method for gripping leaves (16) and for depositing them together in a stacking device (18) in order to form a stack, in particular for stacking leaves (16) so as to obtain a book block for a book-like document, characterised in that

   - a gripping device (19) formed with gripping segments (22) is positioned in a gripping position with respect to a table (14) on which leaves (16) cut out from a sheet (12) have been placed,

   - each of the leaves (16) is picked up individually and consecutively by one respective gripping segment (22) of the gripping device (19) until most of the leaves (16) of the sheet (12) or all leaves (16) of the sheet (12) have been picked up by the gripping device (19), and

   - the gripping device (19) is transferred to an unloading position in which the individual leaves (16) are disposed one atop another in the stacking device (18).
2. The method as claimed in claim 1, characterised in that the gripping device (19) picks up the cut leaves (16) in a predefined order and deposits them in this same order in the stacking device (18).
3. The method as claimed in claim 1, characterised in that the gripping device (19) picks up the cut leaves (16) in a predefined order and deposits them in the stacking device (18) in an order selected by a control unit.
4. The method as claimed in claim 1, characterised in that each leaf (16) is gripped by a gripping segment (22) and held in place with respect to said gripping segment (22) using vacuum or an electrostatic charging.
5. The method as claimed in any of the preceding claims, characterised in that on its path between the gripping position and the unloading position, the gripping device (19) is transferred to a processing station (31) in which a free side of the leaf, or the leaves, (16) is processed.
6. The method as claimed in claim 5, characterised in that a rear side of the leaves (16) is printed, coated, or embossed.
7. The method as claimed in any of the preceding claims, characterised in that six or nine leaves (16) constituting, in particular, double pages for a book block, are cut out from a sheet (12) and picked up consecutively by the gripping device (19) and subsequently deposited in the stacking device (18) so as to form a book block.
8. A gripping device permitting to manipulate leaves (16) for performing a method as claimed in any one of claims 1 to 7, characterised in that a gripping head (21) has a plurality of gripping segments (22) arranged side by side in a row and in that for receiving one of the leaves (16), each of the gripping segments (22) comprises a support surface (27) against which the gripped leaf (16) is applied.
9. The gripping device as claimed in claim 8, characterised in that the gripping segment (27) has perforations for applying a vacuum.
10. The gripping device as claimed in claim 8, characterised in that the gripping segment (22) has an electrically chargeable plate comprising the support surface (27).
11. The gripping device as claimed in claim 8, characterised in that the number of the gripping segment (22) forming the gripping head (21) is adapted to the number of leaves (16) to be cut out from a sheet (12).
12. The gripping device as claimed in claim 8, characterised in that the gripping segments (22) may be controlled selectively.
13. The gripping device as claimed in claim 8, characterised in that the gripping segments (22) disposed on the gripping head (21) are arranged in a facet-like manner on said gripping head (21), which is shaped in the form of a drum or a roller.
14. The gripping device as claimed in claim 13, characterised in that the gripping head (21) has a rotating axle (24) by means of which the gripping head (21) is rotationally driven.
15. The gripping device as claimed in claim 8, characterised in that provision is made for the gripping head (21) to be provided on a movable device, in particular on a multi-axis robot or a multi-axis linear drive, via the rotating axle (24) .

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