EP0509960B1 - Storing device for objects in roller form - Google Patents

Abstract

The described storage device comprises at least one storage appliance with a gripper and a number of roll cores and is used for the storage of material as rolls, especially for storage of printed products in rolls. The gripper has a central element (10) which is attached to a transport appliance and which supports a gripper spider (20). Clamping arrangements (30) for clamping rolls (W) at their periphery and core carrier arrangements (40) for taking hold of individual empty roll cores (WK), or ones which have been loosely placed on top of one another, are arranged on the gripper spider (20). Roll carrier arrangements (50) which support the cores of clamped rolls can be arranged on the central element (10). The core carrier arrangements (40) are movable or pivotable in such a way that they can be moved away from the region of rolls to permit handling of the latter. The movements of the gripper parts are driven by linear drives and monitored by sensors, so that the gripper can operate fully automatically. The roll cores (WK) are essentially hollow cylinders, containing holding means (60) inside them, by which they are taken hold of by the core carrier arrangements (40) and the roll carrier arrangements (50). <IMAGE>

Description

The invention is in the field of storage technology and relates to a gripper and a storage device and their parts according to the independent claims for the storage of goods in winding form, in particular of printed products in winding form.

Printed products often have to be temporarily stored and rearranged between processing steps since in many cases a processing step provides an intermediate product with a speed and a sequence that does not match the speed and sequence of the next processing step. Storage systems are known for the intermediate storage of printed products that are designed as a shingled stream and that are further processed as a shingled stream, in which the shingled streams are either formed into bars or coils and stored in this form. Storage in the form of a wrap has proven to be advantageous since the shingled stream shape is retained, since the wraps can simply be stacked on top of one another for storage, since, apart from the winding cores, no storage aids are necessary and since the winding and unwinding can be fully automated.

For intermediate storage and rearrangement, the shingled streams designed by one processing step are wound up on winding cores and the windings formed thereby are stored. If necessary, the wraps are outsourced and unwound again. The winding cores, which are equipped with an integrated winding tape, are used during winding, go to the warehouse with the winding and are released again when unwinding. The empty winding cores must also be temporarily stored between being released during unwinding and being used during winding.

EP-A-0 505 320 by the same applicant describes a process for the intermediate storage and rearrangement of printed products in stream form. The process, which is assumed to be known here, is characterized in that, for optimal use of the storage space, both the printed product reels and the empty winding cores are put together to form storage units and that these storage units have essentially the same dimensions, so that they are stored in interchangeable storage spaces can. Furthermore, for optimal use of the handling devices and their transport routes, the circuit of the winding cores is completely integrated into the storage of the printed product rolls, in such a way that printed product rolls and empty winding cores are handled in the same way and that the same devices are used for these handling operations, if possible, for such an integrated storage process it is necessary , Coils of printed products, winding cores and devices used for handling exactly match each other. A movable spool magazine for textile machines is known for example from DE-C-35 18 901.

Useful storage units for the printed product winding are, for example, lying pairs of coils, for the empty winding cores a number of cylinders consisting of several stacking cores that are loosely arranged next to each other in a rosette, for example rosettes of six times three winding cores. These storage units can be stacked on top of each other be stored without the need for additional storage facilities such as pallets or racks.

• einen oder mehrere, liegende Wickel ergreifen oder deponieren auf einer Pufferstelle, wo sie von einer entsprechenden Vorrichtung bereits liegend deponiert oder abgeholt werden, oder im Lager auf einem Stapel liegender Wickel oder auf dem Boden, wobei rundherum höhere Stapel angeordnet sein können,
• einen oder mehrere, liegende Wickel zwischen Lager und Pufferstelle transportieren,
• eine Wickelkernrosette oder einen Teil einer Wickelkernrosette ergreifen oder deponieren auf einer Pufferstelle, wo sie von einer entsprechenden Vorrichtung erstellt oder weiter gehandhabt wird, oder im Lager auf einem Stapel von liegenden Wickeln oder Wickelkernrosetten oder am Boden, wobei rundherum höhere Stapel angeordnet sein können,
• eine Wickelkernrosette oder einzelne Wickelkerne zwischen Pufferstelle und Lager transportieren.

For storage and retrieval, that is, gripping, transporting and depositing lying reels (individually or as storage units) and empty winding cores (individually or as storage units), the task of creating a storage facility or storage system also arises which can be carried out in the following four steps:

• seize or deposit one or more lying wraps on a buffer point, where they are already deposited or picked up by a suitable device, or in the warehouse on a stack lying wraps or on the floor, whereby higher stacks can be arranged all around
• transport one or more lying coils between the storage and the buffer point,
• take or deposit a winding core rosette or a part of a winding core rosette on a buffer location where it is created or further handled by a corresponding device, or in the store on a stack of lying windings or winding core rosettes or on the floor, with higher stacks being arranged all around,
• Transport a winding core rosette or individual winding cores between the buffer point and the bearing.

In addition to the winding cores, the storage facility should require a minimum of devices for storage and retrieval. These devices should be able to be controlled by a central intelligence and no modification work should be necessary to set them up for the handling of windings or the handling of winding cores.

This object is achieved by the gripper and the storage device according to the independent patent claims.

The bearing device according to the invention consists only of at least one bearing device with a gripper and a number of essentially hollow cylindrical winding cores. The diameter D of the largest possible printed product roll and the diameter d of the empty winding core are such that there is an arrangement, for example an essentially circular arrangement, of several empty winding cores whose outer diameter is smaller or the same size as the winding diameter D (see FIG. 1) . The cylinder height 1 of a winding core is in any case smaller or the same size as the height L of a lying winding, which corresponds to the width of the wound printed products (see FIG. 2). The printed products are wound up in such a way that the winding core is located in the middle of the width of the wound printed products. The winding core is essentially designed as a hollow cylinder with holding means arranged in its interior, on which it can be gripped by the device. The annular end faces of the Wickeik core are designed such that several winding cores can be stacked on top of one another in a stable manner.

The storage device belonging to the storage device according to the invention essentially consists of a means of transport and a gripper arranged thereon in a manner secured against rotation. The means of transport can be a vehicle or a crane. The gripper is essentially designed as a six-pointed star, the symmetry of which is adapted to the symmetry of closely stacked stacks with the same circular layout, and the arms of which extend only over the outside diameter of a wound roll so that they move between such stacks can. The gripper has clamping arrangements on the arms, with which he can pinch at least one roll from its periphery and advantageously also inner roll driver arrangements with which he supports the roll core of a clamped roll. It also has, within the clamping arrangements, core driver arrangements arranged in a keel, for example, with which it can grip and take along a substantially circular arrangement of individual empty winding cores or of winding cores standing one on top of the other. The core driver arrangements are movably arranged on the gripper arms or intermediate arms in such a way that they can be removed from their area for the handling of coils

For the actual storage work, the means of transport and the gripper are designed in such a way that the gripper grasps lying reels from above and deposits the reels again in this position. However, the gripper can also be used in connection with a means of transport that can turn the wound roll (s) from a lying position to a standing position. Such a device can then also be used to change windings at winding stations or at corresponding winding changer frames.

Figur 1

einen Ausschnitt aus einem Grundriss eines beispielhaften Lagers, das mit der erfindungsgemässen Lagereinrichtung bewirtschaftet werden kann;

Figur 2

einen schematischen Schnitt parallel zur Drehachse durch eine beispielhafte Ausführungsform des Greifers der erfindungsgemässen Lagereinrichtung, wobei ebenfalls auf den Greifer abgestimmte Wickelkerne und ein Wickel (teilweise) dargestellt sind;

Figur 3

einen detaillierten Schnitt analog zu Figur 2 durch eine weitere Ausführungsform des Greifers der erfindungsgemässen Lagereinrichtung;

Figur 4

eine detaillierte Draufsicht auf den Greifer gemäss Figur 3;

Figur 5

ein Schema zur Illustration der Arbeitsweise des Greifers der Figuren 3 und 4.

The storage device according to the invention and its parts as well as the gripper are to be described in detail with the aid of the following figures. Show:

Figure 1

a section of a plan of an exemplary warehouse that can be managed with the storage device according to the invention;

Figure 2

a schematic section parallel to the axis of rotation through an exemplary embodiment of the gripper of the invention Bearing device, winding cores and a winding (partially) which are also matched to the gripper are shown;

Figure 3

a detailed section analogous to Figure 2 through another embodiment of the gripper of the storage device according to the invention;

Figure 4

a detailed plan view of the gripper according to Figure 3;

Figure 5

a diagram illustrating the operation of the gripper of Figures 3 and 4.

Figure 1 shows a section of a floor plan of a warehouse, in which the winding W and winding core rosettes R are stored closely next to each other in stacks and stored and retrieved from above by a storage device with a gripper G. The winding W and the winding core rosettes R are stored in stacks and bar such that the storage spaces for winding W and for winding core rosettes R are interchangeable and that the storage space is used as well as possible. These two conditions lead to a storage arrangement with tightly packed, circular storage spaces, each with the diameter D of the largest possible winding. The stored rolls should normally have the largest possible diameter D for reasons of optimal utilization. Coils with a smaller diameter can also be stored as long as they do not endanger the stability of the stack. Such a narrow arrangement results in six points of contact with other stacks for a stack which is located between other stacks and a free space F in the form of a six-armed star (single hatched area). If a gripper is to be able to encompass coils, which are stored in such a narrow manner, from their periphery, they must be able to reach into the six essentially triangular spaces arranged around one coil, that is to say they should not exceed a coil in plan by more than these six triangles.

This leads to grippers G with a star of six uniformly arranged gripper arms (for example in the form of the double hatched area) or gripper arms with intermediate angles of 60 °, 120 ° or 180 °. Advantageous shapes for the star of gripper arms are 6 arms with intermediate angles of 60 °, 4 arms with intermediate angles of 60 ° and 120 °, 3 arms with intermediate angles of 120 °. Two arms with intermediate angles of 180 ° are also conceivable, but lead, particularly in the case of heavy windings, to insufficient stability of the wound windings, since the width of the clamping jaws is also limited by the dimensions of the triangular free spaces.

1 also shows that the storage device which guides the gripper from storage location to storage location and the gripper must move in such a way that the rotational position of the gripper relative to the storage arrangement does not change since the free space of each stack is oriented in the same way. This is advantageously achieved by a transport device which has an unchangeable orientation and on which the gripper is attached in a rotationally secured manner. Suitable as a transport device is, for example, a storage vehicle guided on rails, which operates the storage from a ravine with an extendable arm perpendicular to the rail, or, as indicated in FIG. 1, a surface crane with a rail 2 and, for example, displaceable in the y direction a carrier running thereon in the x direction, on which the gripper G is fastened in a rotationally secure manner.

FIG. 2 shows a schematic section through an exemplary embodiment of the gripper according to the invention, cut parallel to the axis of rotation in such a way that on the right-hand side of the figure a clamping arrangement 30 for gripping coils W (only shown as a winding half), on the left-hand side a core driver arrangement 40 for gripping winding cores WK is visible. The gripper consists essentially of a central piece 10 and the already mentioned gripper arm star 20. It is advantageous to arrange the gripper arm star 20 so that it can move axially to a limited extent, for example between the two stops 11.1 and 11.2, on the central piece 10. The central piece 10 has fastening means 12, with which the gripper is fastened to the transport device, and connections for power means, which are necessary for the movements of the gripper parts and their control.

The gripper arm star 20, the design of which has already been described in connection with FIG. 1, has gripper arms 21 which extend over the outer circumference of a roll to be gripped. The gripper arms 21 carry clamping arrangements 30 at their ends. They can also carry core driver arrangements 40, or else these are arranged on intermediate arms between the gripper arms.

The clamping arrangements 30 are driven by a suitable drive, which is arranged, for example, in each gripper arm 21 (not shown in the figure), and can be moved in the radial direction (arrow R), namely between a radius that is somewhat larger than the radius of the largest possible winding and the radius of the smallest possible wrap. The drive for this movement is designed in such a way that it can exert a pressing force on the gripped roll that is able to hold the roll. Each clamping arrangement 30 has at least one curved clamping jaw 31. If the gripper should be able to grip a plurality of windings lying one on top of the other, it is advantageous to equip the clamping arrangement 30 with a corresponding number of jaws. In connection with FIGS. 3 and 4, a clamping arrangement for two superposed coils is to be described, the clamping jaws of which are connected to one another via a tilting device in such a way that it is possible to grasp two coils with different diameters in a certain area.

On the central piece 10, the lower part of which is located inside the core of a wound roll, winding driver arrangements 50 can be attached to stabilize the wound roll. These work together with holding means 60 inside the core, which partially reduce the inside diameter of a winding core. The winding driver assemblies 50 can be moved by a corresponding drive (not shown in the figure) (arrow Q) in such a way that they change the essential outer diameter of the central piece 10 such that the central piece 10 is inserted into the core after a corresponding movement (Q) Winding driver assemblies 50 but can no longer be executed. If several windings are to be gripped at the same time, corresponding winding driver arrangements 50 are advantageously mounted at corresponding heights of the central piece 10 for each winding. Their height is such that when the gripper arm star 20 rests on the lower stop 11.2, they lie below the holding means 60 of the corresponding winding cores WK in such a way that they can carry part of the winding weight with them.

The core driver assemblies 40 also work together with the holding means 60 of the winding cores and are movable by a corresponding drive (not visible in the figure) in the same way (arrow S) as the winding driver assemblies 50 of the central piece 10. Since the winding cores WK are significantly less heavy than Winding, it is sufficient, even if several winding cores are to be gripped, to grasp only the lowest with one core driver. So that the cores nevertheless remain stable on one another, their circular end faces are designed accordingly for stable stackability, for example step-like or as oblique surfaces.

So that the core driver arrangements 40 are not in the way when handling windings, they have to be operated with the aid of a further drive (in the Figure not shown) be movable such that they can be moved out of the area of the winding. For this purpose, they can be folded against the gripper arm star 20 (arrow T) or moved vertically upward. In order that the core driver arrangement 40 to be folded away does not protrude radially beyond the gripper arm star 20 and also that it does not extend further downward than the central piece 10 in its folded-down state, it is advantageous to have long core driver arrangements 40 which are designed for core cylinders of heights greater than the number of windings to be gripped to be shortened (arrow H) in such a way that they do not protrude the central piece 10 towards the bottom in their non-operative state (not moved out of the area of the winding, but not carrying winding cores). In this way, the central part can carry the control sensors for all downward movements of the gripper. The shortening of the core driver arrangements 40 can be driven with a separate drive (not shown in the figure) or with the drive for the movement S.

It is not imperative that the core drivers and the winding drivers work together with corresponding holding means inside the core. They could also be designed as jaws and pressed against the inner surface of the cores by drives. The variant with the holding means is obvious, since the cores are also fastened to the winding stations and on the winding changers with the aid of such inner holding means.

The various drives required for the movements of the gripper parts are advantageously pneumatic or hydraulic linear drives. To control the movements, sensors are also required, the function of which will be described below and for which commercial end-range and pressure sensors (depending on the function) can be used.

• Für das Ergreifen der grösstmöglichen Anzahl von Wickeln: Der am Transportmittel hängende Greifer mit auf dem unteren Anschlag 11.2 aufliegendem Greiferarmstern 20 wird mit Hilfe der Transportvorrichtung an den entsprechenden Lagerplatz bewegt und abgesenkt. Die Klemmbackenanordnungen 30 sind in ihrer äussersten Position (gestrichelt dargestellt), die Kernmitnehmeranordnungen 40 befinden sich nicht im Bereiche des zu ergreifenden Wickels (gestrichelt dargestellte, beispielsweise weggeklappte Position), die Wickelmitnehmeranordnungen 50 sind derart positioniert (gestrichelt dargestellte Position), dass der Zentralstückdurchmesser ein Einfahren in die zentralen Wickelkerne erlaubt. Sobald ein Wickel in den als entsprechende Keule dargestellten Bereich eines Sensors S1 gerät, wird die Abwärtsbewegung verlangsamt. Das Zentralstück 10 bewegt sich langsam in den Wickelkern, bis der Greiferarmstern 20 auf dem Wickelstapel aufliegt und sich dadurch gegen den oberen Anschlag 11.1 bewegt. Das Signal eines in der Gegend des oberen Anschlages angebrachten Endsensors S2 stoppt die Abwärtsbewegung. Die Klemmbackenanordnungen 30 werden nun gegen innen bewegt, bis sie den Wickel W oder die Wickel festklemmen. Die Wickelmitnehmeranordnungen 50 werden ausgeklappt. Vorteilhalterweise werden die Bewegungen der einzelnen Teile mit entsprechenden Sensoren überwacht. Wenn die entsprechenden Sensoren ein Signal liefern, das das Klemmen der Klemmanordnungen 30 und die entsprechende Position der Wickelmitnehmeranordnungen 50 bestätigen, wird der Greifer nach oben bewegt, zuerst langsam, bis der Sensor S2 einen Abstand zwischen Greiferarmstern 20 und oberem Anschlag 11.1 meldet, dann schneller.
• Für das Ergreifen einer kleineren als maximalen Anzahl von Wickeln: Die Funktion ist wie oben beschrieben bis das Zentralstück 10 das Innere des Kernes erreicht. Es fährt nicht in den Wickelstapel ein bis der Greiferarmstern 20 aufliegt (Signal des Sensors S2) sondern bis ein entsprechend am unteren Teil des Zentralstückes 10 positionierter Sensor S7 (siehe Figur 3) in einen Kern eintaucht. Dann stoppt die Abwärtsbewegung und beginnt die Klemmoperation.
• Für das Absetzen von einem oder mehreren Wickeln: der Greifer mit den Wickeln wird über den entsprechenden Lagerplatz bewegt und abgesenkt, bis der Sensor S1 einen Stapel oder den Boden meldet. Die Abwärtsbewegung wird verlangsamt, bis die Wickel aufliegen und der Greiferarmstern 20 gegen den oberen Anschlag 11.1 bewegt wird (Signal Sensor S2), dann gestoppt. Die Klemmanordnungen 30 werden nach aussen bewegt, die Wickelmitnehmeranordnungen 50 eingeklappt und der Greifer wieder langsam nach oben bewegt, bis die abgesetzten Wickel den Bereich von Sensor S1 verlassen, dann kann beschleunigt werden.
• Für das Ergreifen einer maximalen Anzahl aufeinander gestellter Wickelkerne: Der Greifer wird von der Transportvorrichtung über den entsprechenden Lagerplatz gefahren und abgesenkt. Die Klemmanordnungen 30 sind in ihrer äussersten Position, die Wickelmitnehmeranordnungen 50 in ihrer inneren Position, die Kernmitnehmeranordnungen 40 weisen vom Greiferarmstern 20 nach unten, sind aber weder ausgefahren noch gespreizt. Wenn der Sensor S1 eine Kernanordnung meldet, wird die Abwärtsbewegung verlangsamt und wenn der Greiferarmstern 20 auf dieser Anordnung aufliegt (Signal des Sensors S2) wird die Abwärtsbewegung gestoppt. Die Kernmitnehmeranordnungen 40 werden gegen unten verlängert und in ihrer längsten Position gespreizt. Wenn entsprechende Sensoren diese Position (ausgezogen dargestellte Position) melden, wird der Greifer wieder nach oben bewegt, langsam, bis der Greiferarmstern 20 sich vom oberen Anschlag 11.1 entfernt, dann mit normaler Geschwindigkeit.
• Für das Aufnehmen von weniger Kernen: das Aufnehmen von weniger als der maximal möglichen Anzahl von aufeinander stehenden Kernen kann in analoger Weise funktionieren wie das Aufnehmen von weniger als der maximalen Anzahl Wickel, das heisst mit einem speziell und auf entsprechender Höhe am Zentralstück 10 angebrachten Sensor, der die Abwärtsbewegung stoppt. Für jede gewünschte Anzahl muss ein spezieller Sensor positioniert werden. Für denselben Zweck könnten auch Sensoren an den Kernmitnehmeranordnungen 40 positioniert sein. Die Kernmitnehmeranordnungen 40 müssten dann bei der Abwärtsbewegung des Greifers in ihrer ausgefahrenen (längst möglichen) aber nicht gespreizten Position sein. Durch Spreizen und nachträgliches entsprechendes Verkürzen der Kernmitnehmeranordnungen 40 könnten jede Anzahl von Kernen für den Transport zwischen Greiferarmstern 20 und Spreizmitteln der Kernmitnehmeranordnungen 40 eingeklemmt werden.
• Für das Absetzen von Kernen ist die Funktion umgekehrt zur Aufnahmefunktion.

The function of the gripper is essentially the following:

• For gripping the largest possible number of coils: The gripper hanging on the means of transport with the gripper arm star 20 resting on the lower stop 11.2 is moved and lowered to the corresponding storage location with the aid of the transport device. The clamping jaw assemblies 30 are in their outermost position (shown in dashed lines), the core driver assemblies 40 are not in the area of the roll to be gripped (dashed position, for example, folded away position), the winding driver assemblies 50 are positioned (position shown in dashed lines) such that the centerpiece diameter is one Entry into the central winding cores permitted. As soon as a winding gets into the area of a sensor S1 shown as a corresponding lobe, the downward movement is slowed down. The central piece 10 moves slowly into the winding core until the gripper arm star 20 rests on the winding stack and thereby moves against the upper stop 11.1. The signal from an end sensor S2 installed in the area of the upper stop stops the downward movement. The jaw assemblies 30 are now moved inward until they clamp the wrap W or the wrap. The winding driver assemblies 50 are folded out. Advantageously, the movements of the individual parts are monitored with appropriate sensors. If the corresponding sensors deliver a signal which confirms the clamping of the clamping arrangements 30 and the corresponding position of the winding driver arrangements 50, the gripper is moved upwards, first slowly until the sensor S2 reports a distance between the gripper arm star 20 and the upper stop 11.1, then faster .
• For gripping a smaller than maximum number of coils: the function is as described above until the center piece 10 reaches the inside of the core. It does not move into the winding stack until the gripper arm star 20 rests (signal from the sensor S2), but up to a corresponding one sensor S7 (see FIG. 3) positioned at the lower part of the central piece 10 is immersed in a core. Then the downward movement stops and the clamping operation begins.
• For depositing one or more coils: the gripper with the coils is moved over the corresponding storage location and lowered until sensor S1 reports a stack or the floor. The downward movement is slowed down until the windings rest and the gripper arm star 20 is moved against the upper stop 11.1 (signal sensor S2), then stopped. The clamping arrangements 30 are moved outwards, the winding driver arrangements 50 are folded in and the gripper is slowly moved up again until the deposited windings leave the area of sensor S1, then acceleration can take place.
• For gripping a maximum number of winding cores placed on top of one another: The gripper is moved and lowered by the transport device over the corresponding storage location. The clamping assemblies 30 are in their outermost position, the winding driver assemblies 50 in their inner position, the core driver assemblies 40 point downward from the gripper arm star 20, but are neither extended nor spread. When the sensor S1 reports a core arrangement, the downward movement is slowed down and when the gripper arm star 20 rests on this arrangement (signal from the sensor S2) the downward movement is stopped. The core driver assemblies 40 are extended downward and spread in their longest position. If corresponding sensors report this position (position shown in solid lines), the gripper is moved up again, slowly until the gripper arm star 20 moves away from the upper stop 11.1, then at normal speed.
• For picking up fewer cores: You can pick up fewer than the maximum possible number of cores on top of each other function in an analogous manner as picking up fewer than the maximum number of windings, that is to say with a sensor which is attached to the central piece 10 at a corresponding height and which stops the downward movement. A special sensor must be positioned for each desired number. Sensors could also be positioned on the core driver assemblies 40 for the same purpose. The core driver arrangements 40 would then have to be in their extended (longest possible) but not spread position when the gripper moves downward. By spreading and subsequently shortening the core driver assemblies 40 accordingly, any number of cores could be clamped for transportation between the gripper arm star 20 and spreading means of the core driver assemblies 40.
• The function is reversed to the pick-up function for the deposition of cores.

The sensor S1 has different functions and must be designed accordingly. Its corresponding signal is used to slow the gripper's downward movement when a stack of coils, an array of cores or a pad comes into its area. Conversely, its signal can be used to accelerate to normal speed when these things leave its range. If the empty gripper is erroneously lowered against the floor, the same sensor must send an emergency stop signal when the gripper stands on the surface. For safety reasons, it is also advantageous to monitor the pneumatic or hydraulic pressure actuating the drives in the area of the corresponding connection with a pressure sensor S4.

FIGS. 3 and 4 show a further exemplary embodiment of the gripper according to the invention in detail, as a section corresponding to FIG. 2 (Figure 3) and as a top view (Figure 4). It is a gripper that can grip a lying pair of coils or a coil, the diameters of the two coils of the pair of coils being able to be different in a certain range. He can also grab a rosette of six by three winding cores on top of each other. The function of the gripper is largely the same as the more general gripper functions already described in connection with the preceding figures. The parts of the gripper that have the same function as already described are also labeled with the same item numbers.

The gripper essentially consists of a central piece 10 and a six-arm gripper arm star 20 movably attached to it axially between the stops 11.1 and 11.2. The position of the gripper arm star 20 relative to the central piece 10 is monitored by the sensor S2 in the area of the lower stop 11.2.

A clamping arrangement 30 is attached to each gripper arm 21 and is moved radially by the linear drive Z2. The drive Z2 is shown in its fully retracted position, which corresponds to the outermost position of the clamping arrangement 30. The clamping jaws 31.1 and 31.2 are pivotally attached to a sliding lever 34 by means of pivoting levers 32.1 / 2 and 33.1 / 2 and pivoting axes A, B, C, D, E and F such that they lie vertically one above the other with different diameters of the winding to be gripped Position (shown in solid lines) can be pivoted into a swivel position (shown in dashed lines). The position of the slide lever 34 is monitored at its end which is operatively connected to the drive Z2 by the sensor S9.

The winding driver arrangement 50 essentially consists of two times three driver flaps 51.1 and 51.2 which are provided with movement templates 52.1 and 52.2 such that when rollers 53.1 and 53.2, which are operatively connected to a drive Z1, are moved upwards, they are folded out. If the rollers 53.1 and 53.2 move back, the driver flaps 51.1 and 51.2 are no longer held in their unfolded position and are moved back into their inner position by the holding means 60 of the winding cores WK when the central piece 10 is moved upwards. So that this return movement can take place smoothly and smoothly, it is advantageous to design the holding means 60 of the winding cores in such a way that they form a surface 61 which forms a stump jacket which is coaxial with the core cylinder and which narrows towards the top. So that the winding cores can be gripped regardless of their orientation, it is advantageous to arrange the holding means in the center of the hollow cylinder and to provide them with two opposing surfaces 61 and 61 '. The holding means can extend continuously around the inner circumference of the hollow cylinder or can be interrupted.

The positions of the driver flaps 51.1 and 51.2 are monitored by sensors S5.1 / 2 and S10.1 / 2. Sensors S1 and S7 with functions already described are also attached to the central piece 10.

The core driver assemblies 40 are attached to intermediate arms 22, which are arranged between the arms 21 of the gripper arm star 20. In Figures 3 and 4, four of the total of six such arrangements 40 are shown, namely 40.1 and 40.2 in the fully extended and spread position, 40.3 in a vertically downward, non-extended, non-spread position and 40.4 in the open position, as they are for handling of wraps is taken.

The core driver arrangement 40 has a drive Z3 which is arranged in the intermediate arm 22 and which pivots a core driver 41 about an axis J such that it lies parallel to the intermediate arm 22 when the drive Z3 is extended (40.4) and is oriented vertically downward when the drive is retracted (40.1 / 2/3). The core driver 41 consists essentially of a telescopic tube 43, a spreading device 44 with, for example, three spreading legs and a drive Z4, which extends the telescopic tube 43 when extended and spreads the spreading device 44, collapses the spreading device when it is retracted and shortens the telescopic tube. In this case too, the weight of the cores acts in such a way that when the telescopic tube is shortened, the spreading device is first folded in and only then is the telescopic tube shortened. The positions of the driver are monitored by sensors S8, S12, S6 and S11.

FIG. 5 shows a diagram from which the function of the gripper according to FIGS. 3 and 4 can be seen. Columns I to V refer to different work steps (I take two windings, II take one winding, III put down the winding, IV take the core rosette, V put the core rosette). The movement modes of the crane K are also given below, which are fast (fast), slow (slow) or stop (stop). V designates the valves responsible for controlling the drives. For safety reasons, such valve arrangements are provided for the drives Z1, Z2 and Z4, which block the drives in the current position in the event of a power failure.

Claims (14)

1. Gripper for transporting goods in roll form, particularly printed products in roll form, characterized in that it has a star (20) of gripper arms (21) arranged on a centrepiece (10) and on which are provided clamping arrangements (30), with the aid of which it is possible to grip printed product rolls by clamping the periphery thereof and on which are arranged within the clamping arrangements (30) core driving means (40), with which individual roll cores or in each case a number of superimposed roll cores can be gripped in their interior and are movably arranged in such a way that for the handling of the rolls they can be moved out of the area of the latter.
2. Gripper according to claim 1, characterized in that it has roll driving arrangements (50) arranged on the centrepiece (10) and with which it can support from the inside the core or cores of printed product rolls.
3. Gripper according to one of the claims 1 or 2, characterized in that each clamping arrangement (30) has a plurality of clamping jaws (31.1/2), which corresponds to the maximum number of transportable rolls and that the clamping jaws are so interconnectable by means of tilting levers and pivot pins that rolls of different diameters can be clamped therewith.
4. Gripper according to one of the claims 1 to 3, characterized in that the core driving arrangements (40) are so pivotably arranged about a pivot pin or axis (J), that they can assume a pivoting position parallel to the gripper arm star (20) or a pivoting position perpendicular to the gripper arm star.
5. Gripper according to claim 4, characterized in that the core driving arrangements (40) have a spreading device (44).
6. Gripper according to claim 5, characterized in that the core driving arrangements have a telescopically extendable tube (43).
7. Gripper according to one of the claims 2 to 6, characterized in that the roll driving arrangements (50) have driving flaps (51), which are so provided with movement templates (52) that they can be tilted open by driven rolls (53).
8. Gripper according to one of the claims 2 to 7, characterized in that it has a drive for each clamping arrangement (30) and each roll driving arrangement (50) and that each core driving arrangement has a drive for the tilting movement and a drive for the extending and spreading movement.
9. Gripper according to claim 8, characterized in that the drives are pneumatic or hydraulic linear drives or electric servomotors.
10. Gripper according to one of the claims 1 to 9, characterized in that the positions of the gripper and the gripper parts are monitored by sensors.
11. Storage device for storing goods in roll form, particularly printed products in roll form, characterized in that it only comprises at least one storage means with a gripper according to claim 1 and a plurality of roll cores and that the storage means is equipped in such a way that the gripper can grip from above, transport and deposit both a number of superimposed printed product rolls defined as a storage unit and also a number and formation of empty roll cores defined as a storage unit.
12. Storage device according to claim 11, characterized in that the storage unit of the printed product rolls is a horizontal roll pair, the storage unit of the roll cores a circular arrangement of six loosely juxtaposed cylinders of in each case three loosely superimposed roll cores and that the greatest possible diameter of a roll is larger than the external diameter of the storage unit of the roll cores.
13. Storage device according to one of the claims 11 or 12, characterized in that the storage means is designed in such a way that, during operation, the gripper has a clearly defined rotary position adapted to the roll store.
14. Storage device according to one of claims 11 to 13, characterized in that the gripper is designed in such a way that it is able also to grip, transport and deposit parts of storage units.

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