EP0950626A1 - Device for changing winder frames at winding stations - Google Patents

Abstract

The system has reels (3) mounted on individual support platforms, which are gripped by coupling grips (2) of a vertical hoist (21) supported from a traveler on a gantry. The gantry moves over the system in two horizontal directions and vertically and rotates about a vertical axis. The gantry transfers reels between the winding positions and the storage positions. The vertical hoist can also turn the support platforms about a vertical axis in steps of 90 degrees . An Independent claim is included for a method for using the device.

Description

The invention lies in the field of further processing of flexible, flat objects, in particular printed products and relates to a Device according to the preamble of the first independent claim. The device is used to change reel stands for printed product reels at winding stations and for the transport and removal of the to be replaced and the exchanged reel stand or in general for Manipulation and transport of changing stands.

It is common in the printing industry to print products and / or partial products for intermediate storage or for transport over longer distances than shingled Winding formation on a winding core using a winding tape, to transport and / or hiss storage and for further processing to unwind the scale formation from the reels. For the winding of the scale formation on wraps and for that Corresponding winding stations are used to unwind the scale formation from windings used. A stream of products and empty winding cores are fed to winding stations and from unwinding stations dissipated. Full reels are removed from winding stations and to unwinding stations fed.

The ones to be fed to and removed from the winding stations Coils usually have a diameter in the order of magnitude two meters and a weight of the order of one ton. The axial width of such a winding is slightly larger than the width of the wound products, for example 30 to 50cm.

In the manipulation and to be performed for the above functions Transport steps are either winding and empty winding cores in the manipulated and transported essentially without further aids, such as described in publications EP-527702 (or US-5379963, F316) and EP-505320 (or US-5398883, F305). Or be full and empty winding stands (also called winding cassettes) manipulated and transported, as described for example in publications EP-333648 (or US-5161933, F253) and EP-243837 (or US-4768768, F224).

Such winding stands are simple, mobile, often passively movable devices, where a winding core is fixed and around a horizontal winding axis is rotatably mounted and often also a device for opening and closing Unwind a winding tape. An empty changing stand shows an empty winding core without products wound on it, in one full winding stand, the winding core carries a scale formation wound thereon of printed products. Such winding stands are on accordingly equipped winding stations and are usually matched to the winding stations in such a way that a scale formation wound up in the winding stand is directly unwound or that in a winding station the scale formation directly on the Winding core of a winding stand is wound.

Changing stands of the type mentioned are also described in the publications DE-3236866 (or US-4587790, F133), EP-0149058 (or US-4676496, F173) or EP-0242607 (or US-4703901, F215).

For reasons of space, the winding stands are advantageously designed such that the floor plan of a full changing stand is as small as possible is as the floor plan of the wrap positioned on it. Also for reasons of space the winding stations are usually equipped in such a way that the winding stands perpendicular to the winding axis through an entrance of the winding station in introduced their winding position and in the opposite direction from the winding station be removed. The winding direction in which the is unwound, and thus the alignment of the winding stand in the winding station clearly specified and usually for all winding stations like a facility. Again, for reasons of space, the changing stand mostly stored in graters, in which they have parallel winding faces, are usually arranged essentially coaxially and in which they in turn arranged by a movement perpendicular to the winding axis and from it be removed.

Winding stands in winding stations or storage areas, for example seized by being attached to suitable vehicles or with the loading fork drive under a vehicle and be lifted. Because with such Manipulation / transporter driving usually only one reel stand can be grasped and moved are in the area of winding stations at which Changing stands are interchangeable, many maneuvers are necessary and there is a lot of space for these maneuvering steps and for transport routes to provide. Furthermore, such methods are poorly suited for a high level Level of automation and they are rather slow. Such procedures but have the advantage that they adhere to the spatial orientation of winding stations and of storage places for changing stands, so to speak, no restrictive To set conditions.

But it is a known fact that floor space in new manufacturing buildings expensive and only limited in existing manufacturing buildings is present and that is available for a specific function Space is mostly better used, especially for expansion projects could be, if there were flexible facilities, which facilities thanks to their flexibility to the shape of the existing Space could be better adjusted.

In view of the fact mentioned, the object of the invention a device for changing winding stands at winding stations or more generally for manipulating and transporting reel stands create which device in the same way as the above Vehicles in various arrangements of winding stations and storage spaces can be used and operated efficiently, but which device is significant requires less maneuvering space, such that changing stations and Storage spaces as close as possible to differently shaped spaces can be arranged. Furthermore, the device should be fully automated and can be manufactured to a high degree from components known per se be.

This object is achieved by the device as it is by the independent Claim is defined. The subclaims define advantageous ones Embodiments of the device according to the invention.

The device according to the invention essentially consists of an x, Manipulator movable in the y and z direction with at least two coupling means and from coupling means arranged on winding stands, which for Manipulation and transport of the winding stand with one of the manipulator coupling means can be coupled. The at least two manipulator coupling means are offset from each other by 90 ° relative to a vertical axis arranged and the manipulator is around the said vertical Axis rotatable (for example, pivotable by 90 °) that by turning the Manipulator the two coupling means one after the other in identical positions are feasible. The winding stands each have a coupling agent, that on one of the two aligned essentially parallel to the winding axis Narrow sides of the winding stand is arranged on each Changing stand on the rear narrow side, for one in a changing station positioned winding stand facing the entrance.

The manipulator, on one of its coupling means a winding stand is coupled on the narrow side, by displacement in the x, y and / or z direction and, if necessary, shifted by rotation in such a way that its empty, outer coupling means in the coupling position relative to the coupling means a winding stand positioned and to be replaced in a winding station brought and can be coupled with this. After coupling the manipulator is perpendicular to the winding axis of the newly coupled Winding stand shifted (horizontal, vertical or horizontal and vertical), so that the newly coupled changing stand is removed from the changing station becomes. Then the manipulator is turned 90 ° so that it is in the winding station new rewind stand to be used in the previous position of the Winding station to be transported away, whereupon the Manipulator the removal movement in the reverse direction (insertion movement) to the new winding stand in the winding station position. The new winding stand introduced in the winding station then decoupled from the manipulator and the manipulator is with the other Changing stand moved away.

So that the mass of the winding stand during transport and manipulation does not need to be accelerated and braked unnecessarily many times, it is beneficial to design the manipulator in such a way that it moves in x, y and Carry out the z direction and, if necessary, also rotary movements simultaneously can. Such simultaneity also leads to an efficient operating procedure.

To change winding stands in storage spaces is essentially performed the same sequence of movements as described for the winding station has been. Because the changing stand only on one of its narrow sides Have coupling means, they can not from a manipulator to one to be given to others. But it ensures that for each any arrangement of winding stations in any case of the winding stand correctly (rear narrow side turned towards the entrance) into the winding station regardless of how many times it was previously stored and was outsourced again.

Figur 1

die Durchführung eines Wickelwechsels an einer Wickelstation mit Hilfe der erfindungsgemässen Vorrichtung;

Figur 2

eine beispielhafte mit erfindungsgemässen Vorrichtungen bearbeitete Anordnung von Wickelstationen und Lagerplätzen für Wickelständer;

Figur 3

eine beispielhafte Ausführungsform von kooperierenden Kopplungsmitteln an Manipulator und Wickelständer;

Figur 4

eine beispielhafte Ausführungsform der erfindungsgemässen Vorrichtung;

Figur 5

eine mit mindestens einer erfindungsmässen Vorrichtung gemäss Figur 4 bearbeitete Anordnung von Wickelstationen und Lagerplätzen für Wickelständer.

The device according to the invention is described in more detail with reference to the following figures. Show:

Figure 1

the implementation of a winding change at a winding station with the aid of the device according to the invention;

Figure 2

an exemplary arrangement of winding stations and storage places for winding stands processed with devices according to the invention;

Figure 3

an exemplary embodiment of cooperating coupling means on manipulator and winding stand;

Figure 4

an exemplary embodiment of the device according to the invention;

Figure 5

an arrangement of winding stations and storage places for winding stands processed with at least one device according to the invention according to FIG. 4.

FIG. 1 shows from a bird's eye view and in a very schematic manner how, with the aid of the device according to the invention, a winding stand 3 to be transported away from the winding station, for example full winding stand 3, is replaced with a winding stand 3 'that is transported to the winding station, for example empty. The winding station W has an input E through which a winding stand can be inserted into the station. On the side of the winding station opposite the input E, a shingled stream S is carried away or supplied (shown schematically by a double arrow).

The winding change takes place in five steps: (a) start and couple, (b) remove, (c) turn, (d) insert, (e) disconnect and drive away. FIG. 1 shows the six positions of the manipulator 1 in FIG inventive device and the changing stand 3 and 3 'before, between and after said steps a to e. Furthermore, in everyone Phase with an arrow the direction of the steps to be carried out in the following step Movement indicated.

The manipulator 1, shown very schematically as a square, has at least one two coupling means 2, shown schematically as ovals, which on Manipulator 1 are arranged by rotating the manipulator around Can be brought into an identical position 90 ° around a vertical axis are. The winding stands 3 and 3 'are shown schematically as rectangles, the same on its rear narrow side (parallel to winding axis A) have a coupling means 2 '. The one to be removed from the winding station Wrapping stand that is full, for example, is hatched and labeled 3, the changing stand to be used in the winding station, for example is empty, is not hatched and is labeled 3 '. With 2/2 'are manipulator coupling means 2 and stand coupling means 2 'in the coupled position designated. The coordinates x, y and z are chosen such that x and y runs horizontally and z vertically.

The manipulator, on the one coupling means 2 of which the empty winding stand 3 'is coupled (2/2'), is moved into a position in which his other coupling means 2 with the coupling means of the in the winding station W positioned, full winding stand 3 can be coupled. This start can be done in the x, y and / or z direction and can also be done with a Rotation r of the manipulator around the vertical axis can be combined. The cooperating coupling means 2 and 2 'are advantageously designed such that the coupling takes place purely by starting.

In a second step b (see), the full winding stand 3 is turned off taken from the winding station W, for which purpose a movement in the case shown of the manipulator in the y direction is necessary. In a third step c (turn) the manipulator is now coupled to the two winding stands 3 and 3 ' are rotated by 90 ° (r), so that the empty winding stand 3 'the previously from the full winding stand 3 takes up position, that is, against the entrance E of the winding station W is directed. In a fourth step c (insert) the empty winding stand 3 'is inserted into the winding station W. As soon as the empty winding stand 3 'is positioned in the winding station, the coupling 2/2 'is released and the manipulator, to which only the full winding stand 3 is coupled, for example, in the x, y and / or z direction moved away (fifth step e, drive away).

A reel stand manipulation in which, for example, an empty reel stand in a storage area is replaced by a full changing stand essentially the same as the change of the changing stand described on the Changing station W.

From Figure 1 it can be seen that the manipulator 1 to the alignment in the x- and y- and to the positioning in the z-direction of a plurality of Winding stations (and also of storage places for winding stands) that by the manipulator is to be operated, no conditions have to be set. But is at the entrance of the winding station W, of which the Winding stand can be inserted and removed (entrance E), a place P (outlined in dash-dot lines in the phase between step b and c) to make, which essentially allows the manipulator 1 to a winding stand coupled in one or the other transverse direction is to insert or remove another winding stand. The space P ("shunting space") required for these manipulator movements is also sufficient for the rotary movement r.

In the winding station W shown in Figure 1, the windings are in one horizontal movement (y direction), so that the marshalling yard P is next to the winding station W. The manipulator 1 can when the winding station (or a storage bin) it allows changing stands also in a vertical or in one consisting of horizontal and vertical elements Introduce movement (in y and z direction) into or out of the winding station remove. In such a case, the maneuvering area P is above the winding station and affects, since it is the base of the winding station at least partially overlapped, less based on floor space requirements.

FIG. 2 shows, in essentially the same schematic manner as that used in FIG. 1, an exemplary arrangement of winding stations W, in which scale formations are wound on winding stands 3 'or 3 or unwound from them, and of storage locations L, on which full ones and empty winding stands 3 and 3 'are stored. All winding stands have a coupling means 2 'on their rear narrow side. The arrangement is processed by, for example, three manipulators 1, which manipulators each have four coupling means 2 arranged with intermediate angles of 90 ° around the vertical axis of rotation of the manipulator.

At the manipulator 1 shown on the far left are two winding stands 3 and 3 'coupled and he is just turning it by turning one of the winding stands 3/3 'in a position from which it is in the dash-dotted, empty storage space can be brought. The one between the winding stations W manipulator 1 shown also carries two coupled Winding stand 3/3 'and is just about to change the one winding stand 3 into one To bring in the winding station. The manipulator 1 shown on the right only carries a coupled reel stand, which he takes to a storage bin or to a Winding station transported. This manipulator shows how narrow and therefore space-saving transport routes for the transport of winding stands with the aid of the manipulator of the device according to the invention can.

The device according to FIG. 2 has rows of, for example Winding stations and storage bins on two perpendicular to each other aligned directions (x and y) are limited. In such a facility a manipulator can be used that is only in Can rotate steps of 90 °. This becomes the manipulator and its However, control simplifies the arrangement of the winding stations and storage spaces is therefore subject to a restrictive condition. The freedom with the winding stations W and storage bins L by or a plurality of manipulators 1 with limited to 90 ° rotation Rotatability are operable, but is still considerable and comprehensive in particular winding stations W with, for example, rectified feeds Discharges of shingled streams (arrows S), which winding stations are arranged on two sides of the same service ravine and storage spaces with wider manipulation canyons that can be aligned in two possible directions and narrower transport canyons.

Since the figure 2 is a bird's eye view, it cannot make a statement about the vertical arrangement of the winding stations and the storage bins. Because the manipulator The storage bins can also be moved in the z direction Have floors and can also above or below winding stations Storage bins can be arranged.

Figure 3 shows a winding stand cut perpendicular to the winding axis A (full: labeled 3 and shown in solid lines; empty: labeled 3 'and shown in dash-dot lines) with a holding rod 10 as a stand coupling means 2' and part of the manipulator 1 with a pair of hook 11 matched to the holding rod 10 as manipulator coupling means 2. For coupling the hooks 11 to the holding rod 10, the manipulator 1 is approached in the direction of the arrow 13 and for removal with the winding stand 3 or 3 ′ coupled, the manipulator becomes in the direction the arrow 14 extended.

FIG. 4 shows an exemplary embodiment of the manipulator 1. This is designed as a trolley 20 which can be displaced in the z direction on a support column 21. The support column 21 is supported by a support beam 22 and can be displaced along the support beam 22 in the y direction, while the support beam 22 itself can be displaced in the x direction. The trolley 20 has four coupling means 2, with a full winding stand 3 according to FIG. 2 and an empty identical winding stand 3 'being coupled to it at a distance of 90 ° from it. The trolley 20 can be rotated relative to the support column 21 or it is secured against rotation on the support column 21 and this can be rotated relative to the support beam 22. The support column can be designed to hang fully on the support beam or it can be supported on the floor on corresponding rollers.

From an arrangement operated by the device according to the invention are two mutually opposite winding stations W and two storage locations L arranged above the winding stations are shown. Around for example, a full wrap in one of the winding stations with one replace empty and full in an opposite bin The following sequence of movements is to be exchanged for an empty again necessary: approach winding station (x, y, z) and couple, withdraw (y), turn, insert (y), disconnect and drive away (x, y, z), move to storage location (x y, z) and connect, remove (y), turn, insert (y), disconnect and drive away (x, y, z). Since the manipulator 1 has four coupling means 2, there is no need to turn between moving away from a winding station (or storage location) and approaching an opposite one Storage area (or changing station).

Figure 5 finally shows a system with winding stations W, of which the four left are designed as unwinding stations and the two right as winding stations, and with storage locations L for full and empty winding stands 3 and 3 ', which are arranged in a similar manner as this is shown in FIG. 4.

The winding stations W and the storage spaces L are by an embodiment the inventive device according to Figure 4 with winding stands 3 and 3 'operated. The manipulator 1 has one on a support column 21 vertically (z) movable trolley 20 with four coupling means, wherein the support column 21 on a horizontal, movable in the x-direction support beam 22 can be moved in the y direction and rotated (r) about its own axis.

Claims (8)

Device for manipulating and transporting winding stands (3, 3 '), in particular for changing winding stands (3, 3') at winding stations (W), one winding core with a horizontal winding axis (A) on the winding stands (3, 3 ') is mounted and the winding stand (3, 3 ') has a front and a rear narrow side, which narrow sides are aligned essentially parallel to the winding axis (A), and wherein the winding stand (3, 3') perpendicular to the winding axis (A) with the front narrow side against the winding station (W) can be introduced into winding stations and removed therefrom, characterized in that the device has a manipulator (1) with at least two manipulator coupling means (2), each with one on the rear narrow side of each winding stand (3, 3 ') arranged winding stand coupling means (2') can be coupled and the positions relative to a vertical axis of rotation of the manipulator shifted by 90 ° e ingest, the manipulator (1) being movable in two horizontal directions (x, y) and in the vertical direction (z) and being rotatable about the vertical axis of rotation. Device according to claim 1, characterized in that the rotatability of the manipulator (1) is limited to steps of 90 °. Device according to one of claims 1 or 2, characterized in that the manipulator coupling means (2) is a plurality of hooks (11) and the winding stand coupling means (2 ') is a holding rod (10). Device according to one of claims 1 to 3, characterized in that the manipulator coupling means (2) are arranged on a trolley (20), which trolley (20) on a support column (21) vertically displaceable and with respect to the support column (21) or is rotatable together with the support column (21) about a vertical axis of rotation, the support column (21) being horizontally displaceable on a horizontal support beam (22) and the horizontal support beam (22) being arranged to be horizontally displaceable substantially perpendicular to its length. Method for exchanging a first winding stand (3), which is positioned in a winding station (W) or in a storage area (L), for a second winding stand (3 ') with the aid of a device according to one of Claims 1 to 4, the method does the following: Approaching the manipulator (1), to the first coupling means (2) of which the second winding stand (3 ') is coupled, to the winding station (W) or the storage location (L) in such a way that a second coupling means (2) of the manipulator (1 ) can be coupled to the first winding stand (3) positioned in the winding station or the storage place, and coupling the first winding stand (3) to the manipulator (1), Removing the first winding stand (3) from the winding station (W) or the storage location (L), Rotating the manipulator (1), to which the first and second winding stands (3, 3 ') are coupled, by 90 °, Introduction of the second winding stand (3 ') into the winding station (W) or the storage place (L), Uncoupling the second winding stand (3 ') from the first coupling means (2) of the manipulator (1) and moving away the manipulator (1) to which the first winding stand (3) is coupled. Use of a device according to one of claims 1 to 4 in an arrangement of winding stations (W) whose inputs (E) are arranged on two sides of a service ravine. Use according to claim 6, characterized in that the winding stations (W) on one side of the service canyon are winding stations and the winding stations (W) on the other side of the service canyon are unwinding stations, such that shingled streams fed to the winding stations and discharged from the unwinding stations ( S) are parallel and rectified. Use of a device according to one of claims 1 to 4 in an arrangement of winding stations and storage spaces (L), in which arrangement the storage bins along wider service gorges and narrower transport canyons and the service and transport canyons in two perpendicular to each other arranged directions (x, y) are aligned.

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