DE102023130871A1 - Device for placing stacks of flat products on top of each other on a pallet - Google Patents

Abstract

A device according to the invention for setting down stacks of flat products lying one on top of the other on a pallet, with a robot (10), the robot (10) comprising a robot arm (11) and a gripping tool (12), is characterized in that at least one stop (30) is provided for the stacks (4), which is designed as a horizontal stop (30) and which is vertically adjustable. The invention advantageously makes it possible for stacks to be set down exactly on the edge of the pallet or for precisely set down stacks not to be displaced when further stacks are later set down. The invention is used, for example, in the field of product delivery of folding machines.

Description

invention

The invention relates to a device for depositing stacks of flat products lying one above the other on a pallet with the features of the preamble of claim 1.

field of technology

The invention lies in the technical field of the graphic industry and there in particular in the area of handling (e.g. gripping, holding, moving, rotating, turning and/or setting down) stacks of superimposed, flexible and preferably printed and folded flat products such as e.g. folded sheets, preferably made of paper, cardboard, paperboard, plastic or composite material, with a manipulator, in particular an articulated arm robot/articulated arm robot with a robot arm and gripper device for the stacks.

State of the art

In the field of postpress, it is already known to transport stacks of flat products on a (e.g. roller) conveyor line, to grasp the stacks using a gripper arranged on a robot arm, to lift them from the conveyor line, to move them to a pallet located near the conveyor line and to set them down there, e.g. from the DE102020103398A1 or from the DE202019106975U1 .

The DE202019106975U1 discloses a conveyor line for stacks of printed products lying on top of each other and a so-called collaborative robot system with a robot arm including a gripper for picking up the stacks from the conveyor line and placing the stacks on pallets.

The DE102020103398A1 also discloses a conveyor line for stacks of printed products lying on top of each other and a robot with a robot arm including a gripper for picking up the stacks from the conveyor line and placing the stacks on pallets. The robot can be designed as an industrial articulated arm robot.

The FR3110152B1 also discloses a conveyor line and a robot-guided gripper head. The gripper head comprises a vertically movable upper gripping element, which is designed as a clamping element, and a horizontally movable lower gripping element, which is designed as a pair of prongs.

When placing stacks, especially stacks of smooth and flat products lying on top of each other, on the pallet, the problem can arise that stacks at the edge of the pallet are not placed exactly on the edge or that precisely placed stacks are displaced when further stacks are placed later.

The DE3302501A1 discloses a pallet with removable anti-skid elements for securing the load. The elements comprise wall sections that protrude above the loading area and are at right angles to each other. The elements are attached to the corners of the pallet and remain there during transport of the pallet.

The US20120213625A1 discloses a palletizing cell for a robot with a robot arm and a gripping tool. The cell includes a storage module for removing slip sheets, which includes adjustable guides.

Technical Task

It is therefore an object of the present invention to provide an improvement over the prior art, which in particular makes it possible for stacks to be deposited exactly at the edge of the pallet or for precisely deposited stacks not to be displaced when further stacks are subsequently deposited.

Inventive solution to the problem

This object is achieved according to the invention by a device according to claim 1.

Advantageous and therefore preferred developments of the invention emerge from the subclaims as well as from the description and the drawings.

A device according to the invention for depositing stacks of flat products lying one above the other on a pallet, with a robot, wherein the robot comprises a robot arm and a gripping tool, is characterized in that at least one stop is provided for the stacks, which is designed as a horizontal stop and which is vertically adjustable.

Advantageous embodiments and effects of the invention

The invention advantageously makes it possible for stacks to be placed exactly at the edge of the pallet or for precisely placed stacks not to be displaced when further stacks are placed later.

The invention is used, for example, in the area of product display of folding machines.

In this application, a "horizontal stop" is understood to mean a stop against which products, for example stacks of flat products lying on top of each other, strike in a horizontal direction. The stop or a stop surface of the stop is preferably oriented vertically.

The invention solves the technical problem with simple means, especially when stacking smooth or very smooth printed products on top of each other, which can easily slip against each other when they are placed down. The vertically adjustable horizontal stop can advantageously always be positioned at the height of new stacks to be placed down in the case of a vertically growing pallet stack (total stack on the pallet, consisting of the individual stacks of printed products lying on top of each other). The stacking quality of the pallet stack can thus be advantageously improved.

According to the invention, a horizontal row of stacks can rest against the horizontal stop when being set down and can thus be set down in an exactly aligned manner. If two horizontal stops are used that form a corner, two horizontal rows of stacks can be set down that are perpendicular to one another. Additional stacks of the same level can be set down next to these exactly aligned stacks. A first stack of a new level can preferably be set down directly in the corner. In this way, a very precise pallet stack can be built up.

developments of the invention

Preferred developments of the invention (further developments for short) are described below. These can also be combined with one another where this is not technically impossible.

A further development can be characterized in that the stop comprises at least one vertically adjustable stop bar. The stop bar can be slightly longer than the corresponding side of the pallet. A further development can be characterized in that two adjustable stop bars are provided. A further development can be characterized in that the two stop bars are arranged perpendicular to each other. The two stop bars can thus be arranged at a corner of the pallet.

A further development can be characterized in that at least one drive is provided for adjusting the stop bar. The drive can be an electric motor. A further development can be characterized in that a control is provided which controls the drive in such a way that the stop bar is moved upwards with a (vertically growing) pallet stack that is created on the pallet. A further development can be characterized in that the stop bar is moved upwards step by step, e.g. by the height of a stack of flat products lying on top of one another. A further development can be characterized in that the stop bar is located in the area of the upper edge of the pallet stack after the movement. After all the stacks have been placed on the pallet, the stop bar can be moved back to its lowest position (parking position).

A further development can be characterized in that the stop includes a vertically adjustable roller blind. The roller blind can be made of a fabric. A further development can be characterized in that the roller blind is located below the stop bar and moves vertically with it; for this purpose, the roller blind can be attached to the stop bar.

A further development can be characterized by the fact that the stop is arranged horizontally in a fixed position. A further development can be characterized by the fact that the pallet is positioned at the stop before being set down. A further development can be characterized by the fact that the pallet is positioned next to the stop before being set down. A further development can be characterized by the fact that the stop is arranged horizontally in a fixed position on a floor (of a production facility) and that the pallet is positioned next to the stop before being set down on the floor.

A further development can be characterized by the fact that an upper edge of the stop bar facing the stack is provided with a bevel. In this way, jamming or tilting of the stop bar can be avoided when moving vertically along the pallet stack.

The robot arm is preferably part of a robot system, which usually also includes a robot base and which can be designed as a conventional industrial robot including fencing for operator protection, in particular as an articulated arm robot with three to seven rotation axes, or as a so-called collaborative robot system, in particular as a so-called cobot. The latter does not require fencing, as the system has its own sensors and can use these Contact with operating personnel is detected and possible injuries are prevented, for example by automatically stopping the robot arm movement. As an alternative to the cobot, a collaborative robot system can also be implemented using an industrial robot with an additional area scanner (detection of operating personnel in the danger area) and with an automatic stop.

The features and combinations of features disclosed in the above sections Technical Field, Invention and Further Developments as well as in the following section Embodiments represent - in any combination with one another - further advantageous further developments of the invention.

alternatives

As an alternative to the invention mentioned, the object can be achieved by providing a stop with a (not vertically adjustable) stop bar which has openings, in particular holes, into which a part of the gripping tool, for example its prongs, can penetrate. In this way, a stack of flat products lying on top of one another to be set down can be moved up to the stop bar - even with protruding parts of the gripping tool, for example prongs or housings. The openings can extend vertically over the entire height of a pallet stack to be formed. The holes are preferably arranged horizontally in a grid that allows different setting down patterns. Alternatively, different and interchangeable stop bars with different opening grids could be provided.

Embodiments of the invention and figures

• 1 zeigt eine schematische Darstellung einer Draufsicht eines bevorzugten Ausführungsbeispiels einer erfindungsgemäßen Vorrichtung.
• 2 zeigt eine schematische Darstellung einer Seitenansicht eines bevorzugten Ausführungsbeispiels einer erfindungsgemäßen Vorrichtung.
• 3 zeigt eine schematische Darstellung einer Seitenansicht eines weiteren bevorzugten Ausführungsbeispiels einer erfindungsgemäßen Vorrichtung mit einem Rollo.

The 1 to 3 show preferred embodiments of the invention and the further developments. Corresponding features are provided with the same reference numerals in the figures.

• 1 shows a schematic representation of a plan view of a preferred embodiment of a device according to the invention.
• 2 shows a schematic representation of a side view of a preferred embodiment of a device according to the invention.
• 3 shows a schematic representation of a side view of another preferred embodiment of a device according to the invention with a roller blind.

1 shows a detail of a machine 1, for example a folding machine, and a preferably linear conveyor line 2 following the machine 1, for example a roller table, with a motor 3 for the preferably horizontal conveying of successive stacks 4 of superimposed products, for example printed and folded sheets of paper.

Furthermore, 1 a device 5 according to the invention for depositing the stacks 4. The device 5 comprises a robot 10 with a movable robot arm 11, for example an articulated arm, on which a gripping tool 12 is arranged for gripping individual stacks 4. A danger zone 13 shown is defined by the maximum movements of the robot arm 11. The gripping tool 12 grips a stack 4 at a time, lifts it off the conveyor line 2 and moves the stack 4 to a pallet 20. The conveyed stacks 4 are deposited one after the other on the pallet 20 in this way and form a pallet stack 21 there (arranged next to one another and one above the other according to a predetermined depositing scheme). The stacks 4 of an upper (and preferably complete) level form an upper edge 22 of the pallet stack 21. In 1 Two pallets 20 are placed on the long side of the conveyor line 2. The robot 10 is also placed on the long side of the conveyor line 2. The two pallets 20 can be loaded with stacks 4 one after the other using the robot 10; alternatively, the two pallets can also be loaded alternately.

1 shows several stops 30: two such stops 30 are preferably arranged on each pallet 20. It can be seen that the robot arm 11 can lift the stacks 4 over the stops 30 and place them on the respective pallet 20. Two stops 30 are preferably arranged perpendicular to each other and form a (stop) corner in which the pallet 20 can be placed. The robot is preferably arranged between the two corners.

It should be noted that the stops 30 are shown with a respective distance from the pallets 20 and from the stacks 4. However, this only serves to make the drawn objects easier to recognize. In reality, the outer stacks 4 should rest against the stops 30 when they are set down.

2 shows an example of a stop 30 designed as a horizontal stop 30; this comprises at least one vertically movable stop bar 31 - preferably extending along a horizontal 51 - two stands 32 (preferably arranged on a floor 50 of a production facility) and a drive 33 with a control 34, for example a toothed belt drive arranged in the stand. By means of the controllable drive 33, the stop bar 31 can be arranged in different positions in the vertical (along the stands 32): 2 shows the stop bar 31 in a first (exemplarily upper) position 35 and in a second (exemplarily lower) position 36; 2 also shows the vertical movement 37 of the stop bar 31 between the two positions 35 and 36. In addition, 2 the positions of a pallet 20, an already constructed pallet stack 21 and, for example, two stacks 4 newly placed on top of the pallet stack 21. The current vertical position of the stop bar 31 can preferably be determined by means of a sensor (not shown); alternatively, the vertical position can be determined via the motor control.

It is over 2 it can be seen that the stop bar 31 is arranged in the first position 35, while the new stacks 4 are being placed on the pallet 20 or on the pallet stack 21 that has already been built. The stacks 4 can therefore strike the stop bar 31 when they are placed down and in this way be placed exactly in the desired position; slipping of the stacks 4 when they are placed down or later when further stacks 4 are placed down can also be prevented in this way. The stop bar 31 is successively moved upwards in the vertical direction 52 during the placing down process, i.e. when a large number of stacks 4 are placed down, and is arranged in the area of the current upper edge 22 of the pallet stack 21; always in such a way that new stacks 4 to be placed down can strike it. At the end of the placing down process or after the pallet 20 has been removed, the stop bar 31 can be moved back to its lowest position. The movement of the stop bar 31 preferably takes place automatically and is controlled by the controller 34; For this purpose, the controller 34 can be supplied with information on the settling scheme used.

3 shows a further development, in which a roller blind 40 is attached to the stop bar 31, which can move up and down with the stop bar in the vertical 52 according to the movement 37. A deflection roller 41 and a winder 42 ensure that the roller blind 40 always remains taut. The roller blind 40 can in particular prevent stacks 4 that have already been placed in the lower area of the pallet stack 21 from slipping when further stacks 4 are placed. The roller blind 40 can preferably be made of fabric.

list of reference symbols

1

machine

2

conveyor line

3

Motor

4

stack

5

device

10

robot

11

robot arm

12

gripping tool

13

danger zone

20

pallet(s)

21

pallet stack

22

top edge

30

stop, horizontal stop

31

vertically movable stop bar(s)

32

stand

33

drive

34

steering

35

first position

36

second position

37

Movement

40

roller blind

41

pulley

42

winder

50

Floor

51

horizontal

52

vertical

QUOTES INCLUDED IN THE DESCRIPTION

This list of documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions.

Cited patent literature

• DE 102020103398 A1 [0003, 0005]
• DE 202019106975 U1 [0003, 0004]
• FR 3110152 B1 [0006]
• DE 3302501 A1 [0008]
• US 20120213625 A1 [0009]

Claims (10)

Device for depositing stacks of flat products lying one above the other on a pallet, with a robot (10), wherein the robot (10) comprises a robot arm (11) and a gripping tool (12), characterized in that at least one stop (30) is provided for the stacks (4), which is designed as a horizontal stop (30) and which is vertically adjustable. device according to claim 1 , characterized in that the stop (30) comprises at least one vertically adjustable stop bar (31). device according to claim 2 , characterized in that two adjustable stop bars (31) are provided. device according to claim 3 , characterized in that the two stop bars (31) are arranged perpendicular to each other. Device according to one of the preceding claims, characterized in that at least one drive (33) is provided for adjusting the stop bar (31). device according to claim 5 , characterized in that a control (34) is provided which controls the drive (33) in such a way that the stop bar (31) is moved upwards with a pallet stack (21) forming on the pallet (20). device according to claim 6 , characterized in that the stop bar (31) is moved stepwise upwards. device according to claim 7 , characterized in that the stop bar (31) is located in the region of the upper edge (22) of the pallet stack (21) after the movement (37). Device according to one of the preceding claims, characterized in that the stop (30) comprises a vertically adjustable roller blind (40). device according to claim 9 , characterized in that the roller blind (40) is located below the stop bar (31) and moves with it in the vertical direction (52).

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