GB2199567A

GB2199567A - Parcelling device

Info

Publication number: GB2199567A
Application number: GB08726540A
Authority: GB
Inventors: Karl-Heinz Klingl
Original assignee: Georg Spiess GmbH
Current assignee: Georg Spiess GmbH
Priority date: 1986-11-14
Filing date: 1987-11-12
Publication date: 1988-07-13
Anticipated expiration: 2007-11-12
Also published as: JPS63139866A; SE8704454L; GB2199567B; SE463510B; GB8726540D0; DD268451A1; DE3638970A1; SE8704454D0; DE3638970C2

Abstract

A device for parcelling plate-like product items (such as fragile Printed Circuit Boards - PCBs) in an array, in which the items are arranged in a substantially upright position, comprises generally an upright support rest, a righting means for turning the products from a horizontal supply position to a vertical storage array position and at least one gripping means (such as a pair of vacuum driven actuator suckers) adapted to engage the products successively as they are supplied one after the other.

Description

Parcelling Device The invention relates to a parcelling device but, more particularly, a device for forming parcels of successively placed upright rectangular plate-like objects.

When stacking an array of horizontally superposed products the lower items are subject to a comparatively heavier weight which in the case of certain sensitive products, such as printed circuit boards (PCB's), may be critical. For this reason, it is often necessary to parcel such sensitive items in an upright position.

Apparatus for parcelling PCB's is already known wherein an erecting or righting device consists of a rake which is moved under the PCB's arriving on a conveyor belt and tilts them upwards over their front edges. A shortcoming in such prior art is that PCB's flop down under their own weight out of the upright position and strike the support service or front side of the parcel (which is at a small angle to the vertical) in a disorderly manner and with a relatively high impact or momentum. This is particularly undesirable when stacking PCB(15 since such items are relatively easily damaged. A further disadvantage of this known system is that the rake has to be moved back into its initial setting before the next PCB can be supplied and consequently the hourly handling rate suffers.

Having regard to the prior art, one objector the present invention is to provide a device of the type mentioned above which substantially avoids damage to the products.

A further object of the present invention is to provide a device which ensures highly accurate and neat parcelling of the items.

According to the present invention a device for parcelling plate-like product items in an array, in which the items are substantially upright, comprises a substantially upright support surface, a righting means for erecting the said product items in a substantially horizontal position, and at least one gripping means formed so that it is able to rotate or pivot, through an angle substantially the same as the complementary angle between the plane of conveyance of the product items and the said support surface, about an axis that is substantially parallel to the plane of feed of the said items.

The substantially upright support surface is preferably defined by a rest and, each gripping means is preferably formed as part of the said righting means In the case where each gripping means is formed as part of the said righting means, each gripping means may comprise a sucker which can be actuated by means of a vacuum connection. Each gripping means may be turned from a position substantially perpendicular to the product items as supplied to a position generally perpendicular to the support surface and, in a preferred embodiment, there may be two such gripping means. The two gripping means are preferably offset from each other in the direction of supply of the product items, such gripping means being connected firmly together and being supported for tilting or rotation about a common axis.

The gripping means formed as part of the said righting means may be located on a carrier which can be adjusted in the direction of movement of the supplied items. In such a case the gripping means are preferably mounted adjustably on the said carrier and can be clamped in position thereon. In a further preferred embodiment, the gripping means and the carrier can be moved in a direction substantially perpendicular to the plan of the product engaged and, the gripping means and the carrier can also be moved by means of an actuator.

The gripping means may be located on a pendulum arm pivotally mounted from a frame of the parcelling device. The gripping means are preferably provided with reciprocating means to cause the said pendulum arm to undergo additional vertical reciprocating motion during the pivoting motion. In any case, the pendulum arm may be connected pivotally to a carriage and a carriage guide, the guide extending in the direction of feed of the items, and the pendulum arm having a pivot axis opposite to the carriage, said pendulum arm also being mounted pivotally on the said frame so that it may be moved in a longitudunal direction. In such a case, the pivot axis of the pendulum arm may be defined by a turnpin stationarily mounted on a sliding shoe, mounted on the longitudinal guide, which extends parallel to the longitudinal axis of the said pendulum arm.

In a preferred embodiment, a drive device may be provided to reciprocate the carriage, the drive device being adapted to move in a direction substantially parallel to the longitudinal guide.

A device for parcelling plate-like product items in an array may incorporate a feed device which comprises a drive device and a photo-electric detector adapted to respond to a supplied product item, the photo-electric detector being arranged in a path of the feed device. The photo-electric detector of the said feed device may be adapted to respond to the trailing edge of a supplied product item and is preferably arranged in an exit path of the feed device. In addition, the photo-electric detector is preferably adjustable.

A device for parcelling plate-like product items in an array- may include a rest which is secured to a pallet which is adapted to be moved in steps. In such an embodiment, a rotating means is preferably provided for moving the said pallet, a drive means for the said rotating means and a photo-electric detector for controlling the said drive means of the rotating means.

In such a case, the photo-electric detector may control the drive means in response to a front edge of a parcel of product items. The rotating means are preferably in the form of a toothed belt which rests on the said pallet.

According to another aspect of the present invention a device for parcelling plate-like product items in an array, in which the items are substantially upright, the device additionally incorporating two such gripping means which are in the form of suckers and are offset from each other in the direction of feed of the supplied items, such gripping means being firmly connected together and being supported for rotation about a common axis, an actuator in the form of a pneumatically operable cylinder and piston unit for rocking the gripping means and the carrier about the said pivot axis, a carriage and a carriage guide, which extends in the feed direction of the said product items, a pendulum arm with a lower end pivotally connected with the said carriage and having a pivot axis opposite to the carriage, and a frame on which the said pendulum arm is pivotally mounted so that the pendulum arm may move in the longitudinal direction of the carriage guide by a feeding device in the form of a toothed belt.

According to yet another aspect of the present invention, a device for forming a parcel of upright, successively placed, plate-like rectangular product items comprising a rest having an upright support surface and a righting device for erecting such items supplied in a prone position into an upright one, involving a motion parallel to the direction of of'supply into an upright position on said support surface, such righting device having at least one gripping means, a pivoting arm on which said gripping means is keyed, a carriage, a drive device for reciprocating said carriage, a frame, a longitudinal guide on said frame for guiding said carriage in the of direction of products supply, one end of said pivoting arm being pivoted on said carriage for pivoting about an axis parallel to a plane in which said products are supplied, said arm being able to swing through an angle equal to the complementary angle to the angle between the product supply plane and the support surface of the rest, a carrier on which the gripping means is mounted, said carrier being able to be adjusted parallel to the surface of the products adjacent to the gripping means and being connected with an actuator, which is locked to the pivoting arm which is in the form of a pendulum arm, said pivoting arm being mounted on the frame to pivot about an axis opposite to its end near the carriage and being able to be shifted in relation to the latter access in its longitudinal direction.

In such a case, the device preferably incorporates a gripping means in the form of a suction device. Thus, it will be appreciated that the one or more gripping means make possible a precise acceptance of the products and an accurate transfer thereof. In combination with the rocking motion there is thus a precise erecting action meaning that the products may be neatly placed in such a position in relation to the support surface or the front side of the parcel parallel thereto, that on release from the gripping means they are in an abutting relationship with the surface or the front side of the parcel parallel thereto or at a very small distance therefrom. Hence, the handling of the products is very gentle and does not cause any damage thereto.Since the individual products are neatly moved into position, one may at the same time be sure that the alignment of the separate items remains parallel to the abutment surface of the rest even- if the parcel or stack is of considerable length. In any event, the result will be a neat -and orderly--parcel which is readily handled. Since the gripping means may act from the side or from above, there is the advantage that, while one product item is being erected, the next item may be supplied and, in consequence, high hourly handling rates are possible.

In particular, the use of suction gripping means that it is possible to handle the items particularly gently with a simple engagement thereof on their top surfaces.

A further advantage of the present invention is that there-are at least two gripping means which are offset in relation to each other in the direction of conveyance of the products and, are able to rock about common pivot axis. The advantage of this feature is that the products may be engaged over a large area so that there is no undesirable bending of the products under the effect of gravity when they are being moved and, thus, it is possible to handle products which are comparatively flimsy and to pack them in neat parcels.

In accordance with a further development of the invention it is possible for the gripping means to be mounted detachably on a carrier which is able to be adjusted in the direction of conveyance of the supply of items. This results in the advantage that the respective operational position of the gripping means can be adapted to different lengths of products.

A further advantage of the present invention is that the gripping means are able to be moved perpendicularly in relation to the product item that has just been received. With the aid of such motion in the form of a vertical reciprocation there is the advantage that the items engaged by the gripping means are able to be lifted prior to the rocking motion from the feed device and after the termination of the rocking motion, movement is possible such that the item may be placed with an alignment parallel to the front side of the parcel or array. For this purpose, the gripping means may be mounted simply on a cylinder actuator pivoting about the pivot axis of the gripping means.

A further development of the present invention is possible in which the gripping means, or rather the cylinder actuator holding the same, is provided on a pendulum arm so as not to pivot in relation to the arm itself. With the aid of the pendulum arm, it is therefore possible to achieve a large effective radius of pivot of the gripping means, in which respect, owing to the nonpivoting attachment of the gripping means on the pendulum arm, the angle of pivot of the gripping means is precisely set by the angle of rock of the arm. The pendulum arm provided in such a case also leads-to a simplification of the drive means for producing the rocking motion.The present invention also has advantages insofar as the lower end of the pendulum arm is pivoted to a carriage running in the direction of conveyance of the products in such a way that the pivot axis of the pendulum arm is able to be shifted along a transverse longitudinal guide, preferably on the pendulum arm side.

It is with the aid of a reciprocating drive of the carriage that the desired rocking.motion of the pendulum arm may be produced and, owing to the horizontal alignment of the longitudinal guide associated with the carriage there is at the same time an additional lifting and lowering motion and thus a change in the effective radius of the pendulum arm during the rocking motion, so that, in general, the present invention provides a very compact mechanical design of parcelling device.

In addition, as a further development, the present invention also incorporates an arrangement in which the drive device of the feed means is able-to be controlled by means of a photo-electric detector responding to the trailing edge of each item or product.

This ensures that the position of the trailing edge of the product, which in the erected condition will be the lower edge, is precisely positioned and this is clearly an advantage in respect of obtaining a high degree of accuracy of stacking.

According to another preferred embodiment, the rest may be secured to a pallet as a further feature of the present invention, such pallet being able to be shifted in discrete steps by a drive means controlled from a photo-electric detector for the front edge of the parcel. The rest, is displaced as the length of the parcel increases and the erecting means may then be arranged in a stationary manner.

One embodiment-of-the present invention will now be described, by way of example. only, with reference to the accompanying drawings in which: Figure 1 is a side view of a device in accordance with the present invention for the formation of a parcel of printed circuit boards with one such PCB lifted by a feed means; and, Figure 2 is a partial view of the arrangement of Figure 1 with a printed circuit board set on the front side of the parcel.

A parcelling device comprises generally an adjustable height table 1, on which a rest 3 is mounted, the support surface 2 of which is set at a slight slope to the vertical (in the present case 100). The support surface 2 serves as a rest for the back of an array or parcel 4 of upright printed circuit boards (hereinafter referred to as PCBs) 5. The PCBs 5 are fed to the table 1 at a level generally in line with the lower side of the parcel 4 by means of a feed device 6, which in the present case is in the form of a conveyor belt.

The feed device 6 is so arranged that its leading end, i.e. the end which is to the front of the direction of feed, extends into the range of the stroke of a righting or erecting device 7 provided on the table 1 and by means of which PCBs 5 delivered in a horizontal position on the feed device 6 are erected so that their lower side, resting on the feed device 6 is brought into engagement with the support surface 2 or on the front side of the parcel 4 parallel thereto. The righting device 7 consists of a pendulum arm 9 which is pivoted on a column 8. The column 8 is arranged near one edge of the table 1 and projects beyond the feed plane of the device 6. A cylinder actuator 10, which in the present case is pneumatically operated, is keyed to the arm 9 so that relative rotation between the two is not possible. The arrangement of the cylinder actuator 10 is such in this case that its axis is generally perpendicular to the plane of conveyance of the feed device 6. In the said initial position the pendulum arm can be rocked in relation to the vertical towards the side opposite to the parcel 4. At the front end of the piston rod 11 of the cylinder actuator 10 there is a carrier 12, which, in the present embodiment, is in the form of a simple rod, on which there are two suction gripping means 13, which are offset relatively to each other in the direction of the conveyance of the feed device 6. The rod 11, which forms the carrier 12, is generally perpendicular to the axis of the cylinder actuator 10 and thus extends parallel to the plane of conveyance of the feed device 6.This, therefore, applies also for the suckers of the suction gripping means 13 so that when the piston rod 11 is extended the gripping means 13 engage reliably with a PCB resting on the feed device 6.

If the piston rod 11 is moved inwards and outwards as indicated by the arrow 14 it.is possible for the two gripping means 13 to be moved vertically in relation to the acting planes of their suckers 13. By pivoting the pendulum arm 9 as indicated by arrow 15 the suckers 13, which are not able to turn in relation to the pendulum arm 9, may be rocked or turned through an angle-corresponding to the angle of pivot of the pendulum arm 9. The suckers 13 are set so that the PCBs 5 are engaged near their leading and trailing edges For adaptation to different lengths of PCB it is possible for the suckers 13 to be able to be arranged adjustably on the respective carrier for motion in the feed direction of the feed device 6.In the working embodiment illustrated in the drawings, such adjustability is provided by having the suckers 13 mounted on sleeves which are able to slide on the carrier 12 and are locked thereon by a set screw. In addition, it is possible for the carrier 12 to be attached to the piston rod 11 so that it may be adjusted along it in the direction of the feed device 6. For this purpose, it is possible to have a sleeve mounted on the piston rod 11 and having the carrier 12 passing through it, and furthermore a suitable set screw therefor.

The feed device 6 is driven by a drive device, which in the present case is not described in detail and which is controlled of a photo-electric detector 16, the detector being arranged in an exit path of the feed device 6 associated with the righting device 7 so that it may sense the rear edges of thet PCBs. The drive 6f the feed device 6 is arrested or brought to a halt as soon as the trailing edge of a PCB resting on the feed device 6 moves past the photo-electric detector 16. This means that the wait position of the trailing edge of the PCBs is precisely set.Simultaneously with the stopping of the drive of the feed device 6 the cylinder actuator 10 is supplied with driving fluid, in the present case compressed air, so that the piston rod 11 is moved outwards and the sucker 13 is caused to engage the PCB 5 thereunder in the wait position. The supply of vacuum to the suckers 13 may be controlled to be dependent upon the motion of the piston rod 11 in such a way that towards the end of the outward motion the connection between the suckers 13 and a vacuum line is opened so that the PCB coming into engagement with the suckers 13 is taken up.

After this, the piston rod 11 is moved inwards again to lift the PCB 5 engaged by the suckers 13 (as shown in Figure 1). After this the pendulum arm 9, as indicated by arrow 15, is moved out of the initial position of Figure 1 through the upright middle position into the terminal position shown in Figure 2. The angle of pivoting between the positions of Figures 1 and 2 of the pendulum arm 9, is substantially the same as the angle between the plane of conveyance of the feed device 6 and the support surface 2 of the rest 3, because the attachment of the suckers 13 is such that they are unable to rotate in relation to the pendulum arm 9.The PCB 5 engaged by the suckers 13 is moved out of the position shown in Figure 1 parallel to the plane of conveyance of the feed device 6 into a position, as shown in Figure 2, to be precisely parallel to the support surface 2 of the rest 3.

After arriving in the angular position shown in Figure 2 the cylinder actuator 10 is again supplied with hydraulic fluid under pressure and the piston rod 11 is moved outwards, the PCB 5 engaged by the suckers 13 again being moved in parallelism to its present direction parallel to the support surface 2 and against or towards the support surface 2, or respectively, the front side of the parcel 4 parallel to it (as in Figure 2). Then the suckers 13 are turned off, i.e. cut off from the vacuum line until they cease to have effect, so that the PCB held so far by the suckers is released. The setting can furthermore be selected so that the released PCB drops or tips a small distance into the resting position as shown, the displacement of air then taking place providing a cushioning effect.

The rest 3 is mounted on a pallet 17 which forms a rest for the parcel 4 and is moved in steps pari passu (i.e. of equal speed) with the increase in length of the parcel 4. In the present embodiment the pallet 17 is in engagement with a revolving toothed belt which is driven by a drive device 19. The drive device 19 is operated by a photo-electric detector 20 responding to the leading edge of the parcel 4. The pallet 17, moved by the toothed belt 18, is supported by rails on the table and the column 8, supporting the righting device 7, is immovably solid. The photo-electric detectors 16 and 20, respectively, are adjustable so that the position of the trailing edge of the PCBs and of the front side of the parcel can be set exactly for ensuring gentle handling of the PCBs.

After release of the PCB 5 moves into the resting position, as shown in Figure 2, by the suckers 13, the piston rod 11 is moved back into its cylinder actuator 10 so that the suckers 13 are moved vertically from the PCB 5 of the parcel to the plane of the PCBs. Then the pendulum arm 9 is swung or rotated back into the initial position shown in Figure 1. The angle of pivoting in this respect is equal to the angle as indicated in relation to the stack angle, i.e. the complementary angle between the front side of the support surface 2 and of the parcel 4 and, on the other hand, the support surface of the pallet 17 or the plane of conveyance of the feed device 6, that is to say the angle of the slope, turned away from the parcel 4, of the support surface 2 in relation to the support surface or the plane of feed. As has been indicated above already, this angle is somewhat less than 900 and in the present embodiment is approximately 800.

In order to ensure a compact manner construction, the pendulum arm 9 is arranged so that it wings out of a vertical centre position to either side by half the said stack angle.

In order to produce a rocking drive the lower end of the pendulum arm 9 is pivotally connected with a carriage 21 which, as will be seen from Figure 2, is mounted on a longitudinal guide 22 extending in the direction of conveyance of the feed device 6 and is coupled with a drive unit 23 performing a reciprocating motion. Owing to the reciprocating movement caused by the drive unit 23 and indicated by the arrow 24, of the carriage 21 the pendulum arm 9 is rocked backwards and forwards as indicated by the arrow 15. The lower end, pivoted to the carriage 21 mounted on the horizontally running longitudinal guide 22, of the pendulum arm 9 then performs a horizontal motion as set by the longitudinal guide 22. Accordingly, during the rocking motion the pendulum arm 9 is additionally lifted and lowered. The same applies for the gripping means, mounted on the pendulum arm 9, in the form of the suckers 13. As a result the effective pivot radius may be modified. In order to make this possible, the pendulum arm 9 is fitted with a longitudinal guide 25 formed by a guide rod and parallel to the axis, on which a sliding shoe 26 is mounted which carries a turnpin 27 defining the pivot axis of the pendulum arm 9. The turnpin may thus be stationarily arranged on the column.

The invention is not restricted to the details of the foregoing embodiment. The invention extends to any novel one, or any novel combination, of the features disclosed in this specification and/or drawings, or to any novel one, or any novel combination, of the steps of any method or process disclosed herein.

Claims

1. A device for parcelling plate-like product items in an array, in which the items are substantially upright, comprising a substantially upright support surface, a righting means for erecting the said product items in a substantially horizontal position, and, at least one gripping means formed so that it is able to rotate or pivot, through an angle substantially the same as the complementary angle between the plane of conveyance of the product items and the said support surface, about an axis that is substantially parallel to the plane of feed of the said items.

2. A device for parcelling product items according to Claim 1 wherein the substantially upright support surface is defined by a rest.

3. A device for parcelling product items according to Claim 1 wherein each gripping means is formed as part of the said righting means.

4. A device for parcelling product items according to Claim 3 wherein each gripping means comprises a sucker which can be actuated by means Qf a vacuum connection.

5. A device for parcelling product items according to Claim 4 wherein each gripping means can be turned from a position substantially perpendicular to the product items as supplied to a position generally perpendicular to the support surface.

6. A device for parcelling product items according to Claim 5 wherein there are two such gripping means.

7. A device for parcelling product items according to Claim 6 wherein the two gripping means are offset from each other in the direction of supply of the product items, such gripping means being connected firmly together and being supported for tilting or rotation about a common axis.

8. A device for parcelling product items according to Claim 7 wherein the gripping means are located on a carrier which can be adjusted in the direction of movement of the supplied items.

9. A device for parcelling product items according to Claim 8 wherein the gripping means are mounted adjustably on the said carrier and can be clamped in position thereon.

10. A device for parcelling product items according to Claim 9 wherein the gripping means and the carrier can be moved in a direction substantially perpendicular to the plane of the product engaged.

11. A device for parcelling product items according to Claim 10 wherein the gripping means and the carrier can be moved by means of an actuator.

12. A device for parcelling product items according to Claims 9 or 10 wherein the gripping means is located on a pendulum arm pivotally mounted from a frame.

13. A device for parcelling product items according to Claim 12 wherein the gripping means is provided with reciprocating means to cause the said pendulum arm to undergo additional vertical reciprocating motion during the pivoting motion.

14. A device for parcelling product items according to Claim 12 or 13 wherein the pendulum arm is connected pivotally to a carriage and a carriage guide, the guide extending in the direction of feed of the items, and the pendulum arm having a pivot axis opposite to the carriage, said pendulum arm also being mounted pivotally on the said frame so that it may be moved in a longitudinal direction.

15. A device for parcelling product items according to Claim 14 wherein the pivot axis of the pendulum arm is defined by a turnpin stationarily mounted on a sliding shoe, mounted on the longitudinal guide, which extends parallel to the longitudinal axis of the said pendulum arm.

16. A device for parcelling product items according to Claim 14 or 15 wherein a drive device is provided to reciprocate the carriage, the drive device being adapted to move in a direction substantially parallel to the longitudinal guide.

17. A device for parcelling product items according to any preceding claim or claims wherein a feed device comprises a drive device and a photo-electric detector adapted to respond to a supplied product item, the photoelectric detector being arranged in a path of the feed device.

18. A device for parcelling product items according to Claim 17 wherein the photo-electric detector of the said feed device is adapted to respond to the trailing edge of a supplied product item and is arranged in an exit path of the feed device.

19. A device for parcelling product items according to Claim 18 wherein the photo-electric detector is adjustable.

20. A device for parcelling product items according to Claims 2 to 19 wherein said rest is secured to a pallet adapted to be moved in steps.

21. A device for parcelling product items according to Claim 20 wherein a rotating means is provided for moving the said pallet, a drive means is provided for the said rotating means and a photo-electric detector is provided for controlling the said drive means of the said rotating means.

22. A device for parcelling product items according to Claim 21 wherein the photo-electric detector controls the drive means in response to a front edge of a parcel of product items.

23. A device for parcelling product items according to Claim 22 wherein the said rotating means is in the form of a toothed belt which rests on the said pallet.

24. A device for parcelling product items according to Claim 1 incorporating two such gripping means which are in the form of suckers and are offset from each other in the direction of feed of the supplied items, such gripping means being firmly connected together and being supported for rotation about a common axis, an actuator in the form of a pneumatically operable cylinder and piston unit for rocking the gripping means and the carrier around the said pivot axis, a carriage and a carriage guide, which extends in the feed direction of the said product items, a pendulum arm with a lower end pivotally connected with the said carriage and having a pivot axis opposite to the carriage, and a frame on which the said pendulum arm is pivotally mounted so that the pendulum arm may move in the longitudinal direction of the carriage guide by a weeding device in the form of a toothed belt.

25. A device for forming a parcel of upright, successively placed, plate-like rectangular product items comprising a rest having an upright support surface and a righting device for erecting such items supplied in a prone position into an upright one, involving a motion parallel to the direction of supply into an upright position on said support surface, such righting device having at least one gripping means, a pivoting arm on which said gripping means is keyed, a carriage, a drive device for reciprocating said carriage, a frame, a longitudinal guide on said frame for guiding said carriage in the direction of product supply, one end of said pivoting arm being pivoted on said carriage for pivoting about an axis parallel to a plane in which said products are supplied, said årm being able to swing through an angle equal to the complementary angle to the angle between the product supply plane and the support surface of the rest, a carrier on which at least one gripping means is mounted, said carrier being able to be adjusted parallel to the surface of the products adjacent to the gripping means and being connected with an actuator, which is locked to the pivoting arm which is in the form of a pendulum arm, said pivoting arm being mounted on the frame to pivot about an axis opposite to its end near the carriage and being able to be shifted in relation to the latter axis in its longitudinal direction.

26. A device according to Claim 25 wherein the gripping means are in the form of suction means.

27. A device for parcelling plate-like product items in an array, substantially in accordance with the present invention as hereinbefore described with reference to the accompanying drawings.