MXPA99011685A - Quick change system for a press - Google Patents

Abstract

A robotic apparatus for a printing press transports components between the press and a staging or make-ready area so that components can be prepared for a new press run off-line from the press. The robotic apparatus includes a pair of lifting assemblies which are movable horizontally between the press and a support frame in the make-ready area. Each of the lifting assemblies includes a vertically movable lift mechanism, and each lift mechanism includes a plurality of lifting cups for engaging the ends of the components of the press which are to moved. The lifting cups can be operated independently, so that desired components can be moved from any printing deck to any position on the support frame. The press components which can be moved include a plate cylinder and a carriage assembly. The carriage assembly includes a frame, an anilox roll assembly mounted in the frame, and an ink container mounted on the frame.

Description

FAST CHANGE SYSTEM FOR A PRESS BACKGROUND This invention relates to presses for printing, and, more particularly, to a rapid change system for a press such as a flexographic press. The multi-color flexographic printing process requires the use of specific components for each job. These components consist of the following: 1. plate cylinders, whose diameter corresponds to the repeated dimensions of the image to be printed; 2. anilox rollers, whose cell variables depend on the characteristics of the ink and the image to be printed; 3. the inks and their containers. All these components need to be interchangeable. There may be situations where an unfavorable anilox roll will need to be changed during a run. A plate cylinder change can be the only component change if the same ink is going to be used in the next job. Maybe the same ink will not produce the desired print quality and needs to be replaced. A common change will require that all components be exchanged in preparation for a completely new print run. A typical press central network printing printer will be provided with some medium of operator assistance pair exchange of components. Operator assistance is required and plate rollers can weigh up to 363 kilograms or more and anilox rollers that can weigh in the range of 227 kilograms. Operator assistance includes: 1. Manual lifting systems. This type of system uses I beams that run parallel to the centerline of the press. Chain drop winch, which travels along the I beams, is equipped with adapters which are stuck to the plate cylinder and anilox rolls. With the adapters in place, the components can be lifted from the colored cover of the press and placed on a roller carriage. Similarly, new components (already ready) are transported back to the colored cover. 2. Synchronized lifting systems. This type of system is similar in function to a manual lifting system except for the synchronized movement of the chain falls. It is easier to use and can provide a faster change than the manual type system. 3. Robotic systems. A typical system travels through the press in the same way as the lifting systems. Cylinder or roller placement in the press, placement in the car, and trajectory between the two are programmed. A robotic system can be faster and safer to use than lifting tip systems. The lifting and robotic systems have proven to be useful in the daily operations of the press room. There are still problems. Those systems are not able to change fasteners from the distributor blade or ink stripper or ink containers. For example, U.S. Patent No. 5,010,813 describes a robot that can replace a single cylinder. In addition, plate and anilox rolls need to be cleaned before they can be removed from the press. The change in this size of machine can not be obtained quickly enough with the lifting or robotic system. In the past, a typical press run was longer than it is today. A six-hour run was followed by a two-hour change. This example produced a 25 percent stoppage time. Shorter print runs are common nowadays. A more typical two-hour run is followed by a two-hour change. Thus, a 50 percent unemployment time factor results. Unemployment time does not produce income. Other printing machines such as narrow web presses engraving presses condense the changeover time by separate method. Both types of machines have composite designs. The narrow network industry has adopted the philosophy of using cartridges containing the inker unit and the printing cylinder. However these cartridges are small (below 45 kilograms and maximum width of 50.8 centimeters) and can be handled by the operator, difference of the wide network application. For example, the Patent of E U. No. 5,060,569 discloses a cartridge that can be slid and positioned on a pair of rails by the operator. In addition, the cartridge in that patent is placed in the press using the cartridge frame in the place of the printing cylinder.

An engraving press also incorporates a carriage system to reduce the changeover time. An engraving car is carried to its position with wheels and is always on the floor. The car is larger, but the engraving application has the advantage of space because the process does not require printing on a central printing drum. An engraving press like most narrow web presses uses an online configuration that does not print quality images (color-to-color registration at 0.076 mm) on extensible networks. These cartridges in both cases also have the problem of not being able to replace the print cylinder without replacing the cartridge.

BRIEF DESCRIPTION OF THE INVENTION The goal of this invention is to create a re-printing press of the type described above that can obtain a significant decrease in the changeover time. An appropriate goal would be to change fifteen minutes or less with today's shorter runs. Providing a system that can reduce the additional torque time available today requires a process change study. The purpose of the change analysis is to change as many internal tasks as possible to external tasks (tasks that occur when the machine is running). This change in method requires changes in the design of the printing press. These changes must support the following criteria: 1. The exchange operations must be robotic instead of marked by the operator, in order to guarantee the requirements of the time of change. When you try to make changes of 15 minutes, the variable human factors become very large. Although n are directly related to change, robotics can also provide a safer work environment and less opportunity for component damage during the change. The programmed exchange movements need to be introduced in the robot controlled before the change process. 2. Cleaning of any components can not be done in the press. This is a time consuming task which stops all the tasks that follow. 3. A new design must be versatile. It must provide a complete rapid change, capable of even providing partial exchange (one component at a time) when necessary. 4. The design should maintain normal print quality in the finished product. The invention provides such a design, based on the study d change and the criteria listed. This design consists of three main components: 1. Color Cover Transport: a color cover transport consists of a set of frames that house the anilox roll the support structure for the ink handling system for a simple color cover . The ink handling system will include the blade holder, the ink container, the pump, the viscosity control system, the drip containment tray, and the required hoses and tubing. The anilox roller is removably positioned in the car frame by means of a set of stump covers. This carr is independent of the press itself. Provides a fully integrated ink delivery system. It is transported to and from the colored cover by a robotic system. It could also be transported by other more manual means such as a lifting system. 2. Mounting Structure: Each print cover requires do color cover carts. One is mounted inside the press during a run. The second is placed in a mounting structure in a state of immediate availability. A mounting area facilitated by the mounting structure provides the means for preparing the carriage for the next press run. All cleaning roller changes, and arrangement for the next job is done while the press is running a job. This allows internal change tasks to be converted into external tasks as required by the process study exchange. 3. Robotic system: the color cover car can be transported in a number of ways. The most efficient method would involve the use of a robotic system. The robot to be described will complement the function of the color cover carriage previously described. It is also versatile enough to allow partial exchanges that would not necessarily involve the car. It improves the tasks of change over normal robots of the previous technique by transporting all the components for a whole cubet., which eliminates the need for multiple exchanges during the time of change. The robot is capable of moving in directions or axes: 1. Movement between the press and the assembly structure; 2. Movement towards and outside the press section or outside the assembly structure, essentially a horizontal movement; 3. Movement on the vertical axis. The functions of the robot as a "pick and choose three point system." The robot transports components by means of three lifting cups on each side of the press.These cups acted per cylinder will be either extended or retracted. If you extend them, you can make a complete color cover change.One lifting point will pick up the stumps of the plate cylinder, the next will pick up the anilox roller journals, and the third will pick up the colored cover carriage. also lift the plate roller only the anilox roller alone, the plate and anilox roller together, or the anilo roller with carriage.

DESCRI PCI DIAL The invention will be explained in conjunction with an illustrative modality shown in the attached drawing, in which: Figure 1 is a side elevational view of a press flexographic printer and a robotic assembly which are formed in accordance with the invention; Figure 2 is a side elevational view of the robot to the right of Figure 1 and a second mounting area. Figure 3 is an end view taken along line 3-3 of Figure 2; Figure 4 is a top plan view of the robot on the left of Figure 1 without the vertical movement components; Figure 5 is a top plan view of the robot on the right of Figure 1 without the components of vertical movement; Figure 6 is a side view of one of the mounting areas; Figure 7 is an enlarged side elevational view of the vertical movement structure of one of the robots; Figure 8 is a view taken along line 8-8 of Figure 7; Figure 9 is a view taken along line 9-9 of Figure 8; Figure 10 is an enlarged top plan view of Figure 7; Figure 1 1 is an enlarged view of a portion of Figure 9 showing the pick-up truck for picking up; Figure 12 is a top view of the pick-up truck of Figure 1 1; Figure 13 is a view taken along line 13-13 of Figure 1 1; Figure 14 is a top view of the color cover carriage assembly of one of the color covers of the flexographic press; Figure 15 is a view similar to Figure 14 with the anilox roller removed from the color cover carriage; Figure 16 is a view taken along line 16-16 of Figure 15; and Figure 17 is a top view of the color cover carriage supported by the pick-up trucks of the robot.

DESCR I SPECIFIC MODALI DIAGNOSIS Referring to Figure 1, a conventional flexographic press 2 includes a pair of side frames 21 which support a plurality of color covers 22. In the particular embodiment illustrated, the press includes a 6 color covers 22a - 22f. The central printing cylinder 23 is rotatably mounted in the frames. Each of the color covers supports a cylinder or plate d 25, an anilox roller 26, and a color cover carriage 27. The carr 27 includes the ink system for the press. The plate cylinders and the anilox rolls are shown in their non-operative positions, off the shelf in Figure 1. When the press is in operation, the plate cylinders are adjacent to the surface of the central printing cylinder, and the anilox rolls contact the plate cylinders. The ink is, therefore, transferred to the plate cylinders, and the images are transferred to a network that rotates with the central printing cylinder. As will be explained more fully below, the plate cylinders and anilox rollers are advantageously mounted on the color covers such that each plate cylinder and each anilox roller can be removed from the color cover independently of the carriage 27 of the color cover. Alternatively, each anilox roll can be removed from the colored cover with the carriage, or all three components can be removed simultaneously. The first and second assembly areas or preparation areas 30 31 (Figures 1-5) are placed adjacent to the two sides of the press to support the components of the colored covers for the next run of the presses. The components for the color covers 22-22c are placed in the mounting area 30, and the components for the color covers 22d and 22f are placed in the mounting area 31. Each mounting area includes a pair of support frames 33, each support frame includes four support covers 34-37. Referring to Figure 6, each of the covers 35-37 of the support supports a plate cylinder 25., an anilox roll 26, and carriage 27 d color cover for one of the color covers of the press. The upper support cover 34 is empty and provides a location in which the components of one of the color covers can be moved during the change. Each plate cylinder includes a pair of laterally extending stubs 38 which are supported by the support frame 33. Similarly, the anilox rolls include dies 39, and the color cover carts include dead dies or non-rotating arrows 40 which are also supported by the support frames 33. The components of the cover for the next run of the press are not shown in Figures 1 and 2 for clarity of illustration. The components of the color covers are transported between the color covers 22 and the mounting areas by a pair of robot assemblies 41 and 42. The robot 41 moves between the color covers 22a-22c and the mounting area 30 The robot 42 moves between the color covers 22d-22f and the mounting area 31. The robot 41 includes horizontal rails 43 for movement on a horizontal axis, and the rails 43 are slidably mounted on perpendicular rails 44 so that the robot can move on a second horizontal axis. The robot 42 moves on only one horizontal axis on the rails 45, but the robot 42 could be mounted for movement on another horizontal axis if desired. The rails 43-45 are purchased linear motion modules, such as STAR MKR 25-145 or 25-1 10. Each of the rails 43-45 includes a sliding base 43a, 44a, 45a (Figures 4 and 5) respectively, which are supported by support blocks of linear movement traveling on a linear rail and which are driven by a toothed band that is anchored to the sliding base. The slip-on base 43a and 45a on rails 43 and 45 provide a mounting platform for the vertically extending modules 46 of the robots 41 42. The sliding bases 44a on the rails 44 provide a mounting platform for the rails 43. Each one of the robots includes a pair of modules 46, and each module is bolted to one of the sliding bases 43a and 45 which are slidably supported on the rails 43 and 45. Referring to Figures 7-10, each of the modules includes a vertically extending frame 47 and a pick-up truck 4 that is movable vertically along the frame. The pick-up carriage is guided by two sets of blocks 49 of linear movement support (Figure 10) traveling on a pair of vertical rails 5. The support blocks and linear rails provide uniform operation and high load carrying capacity. The pick-up carriage is driven through a ball screw assembly which consists of a driven ball screw 51, which is secured to the vertical support structure with a fixed cushion block bearing 52 (Figure 9) at the bottom and a floating cushion block bearing 53 on the upper part, and a threaded nut housing 54 attached to the collecting carriage. The ball screw is driven by a motor 55 such as a I ndramat DDS servomotor. The lower position of the pick-up truck is shown on the solid line in Figure 8, and the top position is shown on the dotted line at 487. Three retractable and extensible lift cups 56, 57 and 58 are mounted on the pick-up truck. Referring to Figures 11-13, each of the lifting cups 56 58 includes a cylindrical rear end 60 (Figure 13) a semi-cylindrical front end 61. The cylindrical rear end is slidably mounted in a cylinder 63, and the lifting cup is reciprocated by a hydraulic ram 64 of a pneumatic cylinder 65. The lifting cup 58 is shown in its extended position in Figure 13, and all the lifting cups are shown in their retracted positions in Figure 12. Each of the pneumatic cylinders 65 can be operated independently such that each of the lifting cups can be extended or retracted independently of the other lifting cups. Air for pneumatic cylinders is controlled by a valve bank 66, block 67 of distributed control input, and block 68 of distributed output control. Air and electric power are supplied to the movable pick-up carriage 48 via cable track 69 (Figure 8). The robots 41 and 42 can function as a "pick and choose" system of three points. Each robot has the capacity to transport components through the three lifting cups 56-58 on each side of the press. These cups actuated by cylinder will be either extended or retracted. When all the cups are fully extended, a complete change of color cover can be made. One pair of lifting cups will pick up the plate cylinder stubs 38 (Figure 6), another pair of cups will collect the anilox roller stubs 39, and the third pair of cups will collect the stubs 40 of the carriage 27. Figure 17 illustrates the two carriages 48 pickers of one of the robots that lift the plate cylinder 25, anilox roll 26 and carriage 27 d color cover of one of the color covers of the press. The ends of the trunnions 38-40 are supported by the lifting cups 56-58. The anilox roll is rotatably mounted on, and removably connected to, the color cover carriage by conventional die covers 71. The colored cover carriage is supported by both the anilox stumps 39 and the dead stumps 40. Although the preferred embodiment of the lifting cart includes three lifting cups, the lifting cart could only have two lifting cups. The trunnions 38 of the plate cylinder and the trunnions 39 of the anilox roller are mounted rotatably and removably in the frame of the flexographic press in the conventional manner by the bearing caps or trunnion caps. The non-rotating stumps 40 of the color cover carriages are not supported on the color cover of the press. It is very important for the design that the carriage's location is based only on the bearing caps of the anilox roller. The carriage is supported by the press frame, but essentially "floats" so that any manufacturing inconsistencies of the carriage do not result in misalignment with the press. The plate rollers and anilox rollers are precisely positioned in the color cover of the press by the bearing caps or the die caps. The carriage 27, which is attached to the anilox roll, can touch bottom by itself before the anilox bottoms with the bearing cover. This design will maintain the accuracy of the cover and the quality of the printing on the lifting of the machine.

The components of a colored cover are removed from the press by placing the lifting cups of the pick-up truck under the stumps, opening the stump covers that hold the muñone in the press frame, and then raising the pick-up trucks. - Cylindrical lifting cups capture the ends of the stumps and lift the components off the stump cap and off the press. The robot then moves to transport the components to the area of immediate availability. The robot can exchange all the required components for a complete change. You can also select the plate roller, anilox roller, plate and anilox rollers, or the anilox roller with carr individually. The lifting cups for the components that will be changed are extended so that the lifting cups engage with the stumps of those components. The other lifting cups are retracted so that they do not fit with the stumps of the components that will not be changed. Referring to Figure 14, the trunnions 39 of the anilox rod 26 are removably attached to the color cover carriage d by die caps 71. If the anilox roller 26, but not the carriage 27, is to be changed, the stump covers 71 are opened so that the anilox roller can be lifted out of the carriage 27. Each robot is driven horizontally by an electric motor 72 (FIG. 4 and FIG. 5) through an impeller such as a servo drive and motor I ndramat controlled by a movement control system placed in a control cabinet 74 near the press section d. In each case the motor drives through a gear box to achieve a reduction in torque between the motor and the load. The motors 72 are used to drive the sliding bases 34a 45a, and each motor moves the associated robot in a first horizontal direction in and out of the press. A tube 75 of cross driving torque links the two vertical modules 46 of each pair robot traveling together horizontally. The motor 73 is used to drive the sliding bases 42a and moves the robot 41 in the second horizontal direction between the press and the mounting structure 30. Again, a torque tube 76 or similar device links each rob module so that travel together. Depending on the size of the load, the torque tube may be necessary. The motion control system may be a movement controller such as a Giddings & Lewis PIC 945 and provides the commands for each motor / impeller combination. The commands for each impeller will enable the robot to move the covered components in a programmed path that will avoid obstacles. The system operator will select the location of the source and the destination of the component or components that need to be moved. The movement control system will calculate and control the placement of each ej through the entire movement profile. Referring to Figures 14-16, each of the color cover carts 2 includes a frame 80 for supporting an anilox roller 26 and the ink handling system 81 for a simple color cover. The ink handling system 81 it includes a knife blade assembly 82, an ink container 83, a pump 84, a viscosity control system 85, a drip containment tray 86, hoses and pipes required. Such components are well known, and a detailed description is unnecessary. The carriage 27 is independent of the press and provides a fully integrated ink delivery system. The entire carriage, including the anilox roll 26, is transported to and from the color cover by the robot. The car could also be transported by other means, such as a lifting system or other manual means. The size of the ink containers varies. Illustrated or typical 19 liter 83 container. The container is shallow enough so that it does not interfere with obstructions in the cover The ink container in this design travels with the cart, which allows the hoses to and from the container to be relatively short. The length of the hose is critical to prevent twists and turns that cause alterations in the pressure in the ink flow and finally leakage in the system. An air-driven agitator 87 may also be included with the container to ensure circulation of the ink. An alternative to the ink container described is a typical cubet which is of a depth that would prevent the shaking and movement of the car. This container size could collide with spacers or between color dryers. You can design provision in a car to alleviate this problem. As the robot (see later description) transports the car to the press, via a programmed trajectory, it will make a final movement downwards. As the carriage lowers, the ink container disengages from the carriage touching bottom by itself outside on a latch pin. After this decoupling the robot continues its downward movement and places the plate and anilox stumps in their respective stump caps. The assembly provides the means for preparing anilox rolls plate cylinders, and color cover cars for the next press run. Each mounting area may include a conventional Sunday drive system, which allows the anilox roll to be washed as well as inked before the next run. All cleaning, roller exchange, and preparation of the next job are done while the press is running a job. This allows converting internal change tasks to external tasks as required by the change process study. Converting many of the internal shift tasks to external tasks substantially reduces the machine downtime. The cleaning and immediate disposal tasks have been converted to external operations. These tasks still need to be done before a typical run of two hours or less is completed. The following is a description of the system that will perform these external operations. As previously mentioned, the anilox cylinder and plate cylinder can be mounted on a carriage 90 (Figures 1 and 2). Cars, however, cause problems on their own. They need to be moved and either by personnel or by means of an automated transportation system. The support system for external operations improves this method by providing stationary mounting areas 30 and 31 for all components of the color cover. The working frame can be placed directly behind the press (31 in Figure 4) or behind and laterally deflected from the press (30 in Figure 5). The framework 33 simulates the positions of the components within the press. There are stretchers for the plac cylinder journals and carriage supports, which also contain the anilox roller and other components of the ink system. An empty area in the work area is required so that the robot has a place to transport the initial components from the press. With the mounting framework, the robot can move components simply from the press directly to the cleaning / immediate availability area. There is no need for intermediary devices such as roller carts to transport them to this area. An alternate mode requires roller cars for the change process. This method eliminates the space for the plate cylinders 25 if the working frame 33. The robot would remove all the components and the press at one time. It would, however, separate the plate cylinder from the other components and carry the plate cylinder to a carriage either before or after the car is deposited in the working frame. The time required to complete this round should not be the goal of fifteen minutes or less. However, it shortens the preparation time and reduces the number of times the plac cylinders need to be handled.

After the robot has completed an exchange and the components used are located within the support system framework 33, the cleaning and preparation tasks can begin. The first task is cleaning. The knife clamps can be cleaned manually, by means of some automatic washing system, or by exchanging them with clean fasteners. Remember, the press is running, and cleaning at this time does not equal the stoppage time. You still need, however, to make yourself fast enough to accommodate the next change. The automatic washing system is the fastest way to complete this task. After the system is activated, the staff can concentrate their efforts on other cleaning / preparation tasks. Assuming that the automatic washing system is being used and the plate cylinders are not separated, the operator can start assembling the plate cylinders for the next run. The cylinders d plate for the next job are transported in cars from the cuart of plates to the framework of assembly work. The robot that was used for primary exchange is used once again. This time it is making exchanges from the frame of work to and from the car d cylinders plate. The washing system continues its sequence while the plate cylinder exchanges are made. After the plate cylinders are assembled for the next job and cleaning is complete, the next step in the preparation process is the exchange of anilox rollers. Again, s use the robot to perform this task. The roller carts containing the desired anilox rings are brought into position and the exchange has place. Blade holders can now be accommodated with new sheets and seals. The ink for the next job is placed in place. The final inking step will not occur until some predetermined time before the change. This step is postponed as much as possible. The roller only needs to be inked before the next change sequence. Performing this task much earlier needs to create unnecessary VOC emissions, assuming solvent based inks are used. However, time must be allocated for ink modifications or blade placement, if necessary.

The assembly work frame will be equipped with a conventional Sunday drive system which will provide the necessary rotation of the anilox roll for inking purposes. When the time for inking arrives, this system is activated. Now you can take the samples from the color chart. The staff to make available can make the necessary ink and placement changes required to achieve the desired printing parameters. These initial internal change activities are now conducted as external tasks. The mounting framework 33 would also include the motorcycle required for the ink pump. The carriage 27 described previously would contain the pump heads. As the framework, the press would have the motor for the ink pump permanently mounted on it. This design eliminates the need to transport the pump motors together with the car during the exchanges.

The complete system, including car, robot, and support system, is compact. Because of this, the system can be easily incorporated into a VOC capture type enclosure, if desired. The enclosure would surround the press and the assembly framework. S would provide doors for staff and car access. The actual roller exchange and cleaning functions would be performed with the doors closed. This is done not only to reduce VOC emissions, but also to provide safety. An operator control panel is located at the rear of the mounting work frame and outside the enclosure. This control panel would operate the wash system and provide the interface for the robot roller exchange sequences. Windows inside the capture enclosure allow personnel to see the movements of the robot. No other wide network press design provides the required change times with today's short run printing environments. The quick change press system described in the present provides the means to the printer to significantly reduce downtime and produce more products. printed. This system sacrifices print size or quality to achieve the time of change. The design and methods are based on the criteria previously described: 1. The process is automated instead of marked by the operator. 2. All cleaning and preparation work is done away from the press while the press is running. 3. The placement of the printing cylinder and anilox roll are precisely located in the press by the use of die covers which are permanently mounted to the press section. 4. The design is versatile. It allows the removal of single components or the complete system with the use of the pick and choose system of three points.The robot can also be used to move components from multiple locations of the color cover in the press to multiple mounting locations. For example, the robot can pick up the plate cylinder of a colored cover on the press and the anilox roller on another colored cover.The robot can then move the plate cylinder one mounting location and the anilox roller to another location of The robot can move components from multiple mounting locations to multiple color cover locations, although the robot has been described in conjunction with a flexographic press, it will be understood that the robot can be used with other types of presses. in the foregoing specification a detailed description of specific modalities of the invention for the purpose of illustration will be understood Many of the details given herein may be varied considerably by those skilled in the art without departing from the spirit and scope of the invention.

Claims (15)

1. REVIVAL NAME IS 1. A robotic apparatus for a press having a pair of rollers, each of the rollers having a pair of ends, which comprise first and second lifting assemblies, each of the lifting assemblies including a frame and a pick-up carriage mounted on the frame for vertical movement, each pick-up truck including a pair of lifting devices and means for extending and retracting each lifting device, and means for raising and lowering the pick-up truck in the frame, whereby the lifting devices which are extended they can dock with the end of a roller and lifting devices which are retracted do not mate with the end of a roller. The apparatus of claim 1 including means for moving the lifting assemblies in a first horizontal direction. 3. The apparatus of claim 2 including means for moving the lifting assemblies in a second horizontal direction. 4. A robotic apparatus for use with a printing press having a plurality of printing covers, each printing cover including a set of first and second rolls, each of the rolls having a pair of ends, comprising: a frame of support having a plurality of mounting positions for supporting sets of first and second rollers, a pair of lifting assemblies, each lifting assembly including a frame and a rack mounted pick-up truck for vertical movement, each pick-up truck including a pair of lifting devices and means for extending and retracting each lifting device, and means for raising and lowering the collecting carriage in the frame of the lifting assembly so that the lifting devices which are extended can be coupled with the end of a roller , and means for moving the lifting assemblies between each printing cover and with one of the positions Assembly of the support frame whereby the first and second rolls of any printed cover can be moved to any of the mounting positions in the support frame and any set of first and second rolls in the support frame it can be moved to any of the print cover. The apparatus of claim 4 wherein the support frame includes a plurality of mounting positions for supporting ink carts and each of the pick-up trucks includes a third lifting device for coupling with an ink cart. 6. The apparatus of claim 4, wherein said extension and retraction pair means comprises a pneumatic cylinder for each lifting device so that each lifting device can be extended and retracted independently. 7. A robotic apparatus for a printing press having a plurality of printing covers, each of the printing covers including a plate cylinder and a carriage assembly, with a carriage assembly including a carriage and an anilox mounted roller. removable way in the car, comprising, a pair of lifting assemblies, each lift assembly including a frame and a pick-up truck mounted on the frame for vertical movement, means for raising and lowering the frame pick-up carriage, each pick-up truck including a first lifting cup adapted to engage with one end of a plate cylinder, a second lifting cup adapted to couple with one end of an anilox roll, and a third lifting cup adapted to engage with one end of a carriage assembly; , and means to extend and retract each of the lifting cups independently so that the lifting cups can lift all s the three cylinder plate, anilox roller and carriage assembly or can lift the anilox roller and the carriage assembly and not the plate cylinder or can lift or plate cylinder or anilox roller. The apparatus of claim 7, wherein said extending and retracting means for each lifting cup comprises a pneumatic cylinder. 9. A method to prepare a flexographic press for a new printing run, the flexographic press including a plurality of color covers, each of the colo covers including a plate cylinder and a carriage assembly, each carriage assembly including an ink carriage and an anilox roller removably mounted on the ink cart, comprising the steps of: mounting plate cylinders and carriage assemblies for a new printing run in a mounting area, preparing the plate cylinders and carriage assemblies in the mounting area for the new run of printing while the press is running, when the press stops, moving the plate cylinder and carriage assembly from at least one of the colored covers to the mounting area, and moving a plate cylinder and a carriage assembly from the area d assembly to said at least one color cover. The method of claim 9 including the step of mounting the plate cylinders and the carriage assemblies for the new run of printing on a pair of support frames in the mounting area. The method of claim 9 wherein the mounting area includes a plurality of locations for plate cylinders and pair carriage assemblies, and moving the plate cylinder from one of the color covers to one of said locations and moving the carriage assemblies from said one colored cover to another of said locations. The method of claim 9 including the step d removing the anilox roller from one of the carriage assemblies on the press, moving said anilox roller to the mounting area, and moving an anilox roller from the mounting area to said one car assembly. 13. A carriage assembly for a color cover of a flexographic press comprising: a frame, means for mounting the frame on a flexographic press, an anilox roll removably mounted on the frame, and an ink container mounted on the frame. frame to supply ink to the anilox roller. The carriage assembly of claim 13 in which the anilox roller includes a pair of axially extending trunnions and mounting means comprising a pair of arrows in the frame extending parallel to said trunnions. 15. The carriage assembly of claim 14 including a trunnion cover pa in the frame for removably supporting the anilox roller journals. SUMMARY A robotic device for a printing press carries components between the press and a mounting or preparation area such that the components can be prepared for a new press run off-line of the press. The robotic apparatus includes a pair of lifting assemblies which are movable horizontally between the press and a support frame in the preparation area. One of the lifting assemblies includes a vertically movable lifting mechanism, and each lifting mechanism includes a plurality of lifting cups for engaging the ends of the components of the press to be moved. The lifting cups can be operated independently, so that the desired components can be moved from any printing cover to any position in the support frame. The components of the press that can be moved include a plate cylinder and a carriage assembly. The carriage assembly includes a frame, an anilox roller assembly mounted on the frame, and an ink container mounted on the frame.