EP1055620B1 - Device for picking up and/or transporting flexible and flat products - Google Patents

Abstract

The arrangement has a number of gripping devices (3) in sequence and movable along a gripper transport path and a number of suction elements (2) movable along a suction element transport path to a holder for each product (9) in an acquisition and trans region. The suction element transport path runs along or parallel to the gripper transport path in the acquisition and transfer region.

Description

The invention relates to a device for removal and / or further transportation of flexible, flat products, especially printed products, with a plurality movable along a gripper conveyor line, in the direction of transport successive grippers and one A plurality of suction elements that can be moved along a suction element conveying path for the reception in a reception and transfer area one product at a time and for handing over the recorded product Product to a gripper.

Such devices are known from EP-A-0 628 505 and are suitable for being arranged in a stack or products delivered in scale form individually using the absorbing devices mentioned and the absorbed products to hand over to grippers, who then grasp the gripped products Carry out further processing. Each of the suction organs Always pass the gripper exactly one product, so that it is the one named Device allows to take the products individually and them to be fed individually for further processing.

An object of the invention is that described above Develop devices in such a way that with economically justifiable Effort on the one hand increases the security of an error-free Acceptance and delivery of the products can be guaranteed and on the other hand an increase in the speed of recording and Transfer process becomes possible.

According to the invention this object is achieved in that the from the swivel axes of the suction heads in the pick-up and transfer area, the path along or parallel to the gripper conveyor line.

Through this course of the suction member and the gripper conveyor line according to the invention is achieved that suction organs and grippers during the process of receiving and transferring products uniformly along an at least largely common trajectory forth. This has compared to known devices in which suction elements and grippers during the pick-up and transfer process move on different trajectories, the advantage that no relative movements caused by different trajectory curves occur between suction elements and grippers, so that the invention corresponding to each other at the same speed Suction elements and grippers with trajectory curves with their base or Carrier units are arranged largely stationary to one another. hereby this results in a simplified control and synchronization of the movable or controllable suction organ and gripper parts, as with this Control and synchronization no different trajectories of the Base and carrier units of suction elements and grippers are taken into account Need to become. Due to this simplification, errors in the Acceptance and handover of the products largely excluded. In addition, the aforementioned simplification requires that the admission and Handover process can proceed at high speed without that this impairs the error-free process of the recording and handover process would have to be accepted.

It is preferred if the length of the along or parallel to the gripper conveyor line running section of the suction member conveyor line so is dimensioned that at least two successive grippers in this Find a section. By this minimum length of the section in which both conveyor lines run along corresponding curve curves, it is ensured that the entire admission and transfer process can take place within said section, so that relative movements the base or carrier units of suction elements and grippers can be excluded during this process.

The gripper conveyor line and the suction element conveyor line can in Pick-up and transfer area, for example on concentric circular paths run. This enables an easy funding opportunity for Suction elements and grippers, since in both cases a drive by means of or several transport wheels is possible.

It is advantageous if there is one in each of the receiving and transfer areas Grippers and a suction element are assigned to each other. In particular, can the distance between two successive ones in the receiving and transfer area The gripper corresponds to the distance between two successive suction elements. So a gripper and a suction element with optimized Distance from each other the receiving and transfer area on their go through corresponding trajectories, which in terms of the overall arrangement to be operated mechanical effort minimized and the correctness and speed of the recording and transfer process optimized.

The suction member conveyor section and the gripper conveyor section preferably run in the receiving and transfer area approximately in the middle, in particular centered over the products to be picked up. This ensures that laterally next to the products to be picked up and picked up no mechanical devices have to be provided.

As already mentioned, suction elements and grippers can be conveyed by a transport wheel in the receiving and transfer area. It is also possible to provide only a single transport wheel, which conveys both the suction elements and the grippers in the receiving and transfer area.
In the event that the grippers are conveyed by means of a separate or common transport wheel, they can either be releasably or non-releasably coupled to the transport wheel during transport. If the coupling cannot be detached, the grippers generally describe a circular path around the transport wheel, a section of this circular path forming the receiving and transfer area. In another section of the circular path, the products previously transferred to the grippers are then delivered to a downstream conveying device or any other processing station.
If the grippers are detachably coupled to the transport wheel, the grippers can leave the circular path of the transport wheel after picking up a product in order to convey the picked products into an area spaced apart from the transport wheel. For this purpose, the grippers are preferably coupled to a conveying means which runs in the receiving and transfer area along the corresponding section of the transport wheel.

It is advantageous if the suction elements are each pivotable between one Pick-up and a transfer position on the suction organ transport wheel or on the respectively assigned base or carrier unit, which in turn is firmly coupled to the transport wheel, are held. Through this The suction elements can be swiveled during recording and The transfer process can be controlled in such a way that between the suction element and the associated gripper creates a relative movement, which is why ensures that a sucked product is handed over to the gripper.

Furthermore, it is advantageous if the suction elements are in their transfer position effective leadership means for a defined leadership not product held by suction between the guide means and have a back pressure device. This leadership tool is used for the already picked up and transferred to a gripper Products defined according to their pick-up and transfer process and ensure that the section of the product that is not held by a gripper, not uncontrolled can move and also preferably not with one or in contact with several grippers running in the conveying direction comes. In particular, the interaction of the guide means with the back pressure device also make sure that on a gripper transferred products are still safely managed when the respective grippers for the purpose of further transport or further processing has already released again.

The mode of operation of the guide means and the counterpressure device will explained clearly in the context of the figure description.

In the context of the invention it is possible that each associated with a suction element Gripper is designed as a pair of grippers, the suction member in the pick-up and transfer area between the two grippers of each assigned gripper pair is arranged. Alternatively, however each suction member assigned to a gripper is designed as a pair of suction members with the gripper in the receiving and transfer area then between the two suction elements of the respectively associated suction element pair is arranged.

In the context of the invention, the gripper movements, the suction member movements as well as the activation of the suction elements preferably from control links and / or toothed belt drives controlled.

Further preferred embodiments of the invention are in the subclaims specified.

Fig. 1

eine Seitenansicht eines Ausführungsbeispiels einer erfindungsgemäßen Vorrichtung mit an einem Transportrad umlaufenden Greifern und Saugorganen, wobei die Vorrichtung zur Aufnahme von stapelförmig angeordneten Erzeugnissen eingesetzt ist,

Fig. 2a bis d

vier Verfahrensschritte des mittels der Vorrichtung gemäß Fig. 1 bewerkstelligten Aufnahme- und Übergabeprozesses,

Fig. 3

eine Seitenansicht einer zweiten Ausführungsform einer erfindungsgemäßen Vorrichtung mit an einem Transportrad umlaufenden Saugorganen und entlang eines Fördermittels geförderten Greifern, wobei die Vorrichtung ebenfalls zur Aufnahme von stapelförmig angeordneten Erzeugnissen eingesetzt ist,

Fig. 4

den Aufnahme- und Übergabeabschnitt einer Vorrichtung gemäß den Fig. 1 oder 3, wobei die Vorrichtung zur Aufnahme von schuppenförmig angelieferten Erzeugnissen eingesetzt ist,

Fig. 5

eine Seitenansicht eines erfindungsgemäß verwendbaren Greifers,

Fig. 6

eine Frontalansicht eines als Greiferpaar ausgebildeten Greifers mit innenliegendem Saugorgan, und

Fig. 7

eine Frontalansicht eines als Einzelgreifer ausgebildeten Greifers mit außenliegenden Saugorganen.

The invention is explained below using exemplary embodiments with reference to the drawings; in these show:

Fig. 1

3 shows a side view of an exemplary embodiment of a device according to the invention with grippers and suction elements rotating on a transport wheel, the device being used to hold products arranged in a stack,

2a to d

four process steps of the recording and transfer process carried out by means of the device according to FIG. 1,

Fig. 3

2 shows a side view of a second embodiment of a device according to the invention with suction members rotating on a transport wheel and grippers conveyed along a conveying means, the device also being used for receiving products arranged in a stack,

Fig. 4

1 or 3, the device being used for receiving products delivered in the form of scales,

Fig. 5

2 shows a side view of a gripper which can be used according to the invention,

Fig. 6

a front view of a gripper designed as a pair of grippers with an internal suction member, and

Fig. 7

a front view of a gripper designed as a single gripper with external suction elements.

Fig. 1 shows a side view of a device according to the invention a transport wheel 1 rotating in the direction of the arrow, which runs along its Circumferentially at equidistant intervals with suction elements 2 and grippers 3 is coupled. The number of suction elements coupled to the transport wheel 1 2 is equal to the number of those coupled to the transport wheel 1 Gripper 3. Suction elements 2 and 3 are along the circumference of the Transport wheels 1 arranged offset from one another such that a Suction element 2 between two grippers 3 or a gripper 3 between two Suction elements 2 comes to rest.

The suction elements 2 each have a base or carrier unit 4, which is firmly and rigidly coupled to the transport wheel 1. Everyone also owns Gripper 3 a base or carrier unit 5, which is rigid and rigid with the Transport wheel 1 is coupled.

Base or carrier units 4 and 5 of the suction elements 2 and the grippers 3 are thus arranged and guide with respect to the transport wheel 1 even when the transport wheel 1 rotates, no relative movements to one another out.

The suction members 2 each have a suction head 6, which by one Axis 7 pivotable on the base or support unit 4 of the respective Suction device 2 is stored. The axis 7 extends in turn perpendicular to the direction of rotation of the transport wheel 1.

Below the transport wheel 1 is a product stack 8, in particular a Stack of printed matter 9 arranged, of which by means of in Fig. 1 device shown products 9 individually from the suction elements 2 picked up and transferred to a gripper 3.

Accordingly, the admission and transfer process takes place in the lower one Area of the transport wheel 1. The products handed over to the grippers 3 are turned counterclockwise by rotating the transport wheel 1 on a circular orbit in the upper area of the Transport wheels 1 promoted, which are not held by the grippers 3 Sections of the products 9 due to gravity freely after hanging down.

The radial extension of the suction members 2 directed away from the axis of rotation 10 of the transport wheel 1 is somewhat larger than the corresponding radial extension of the grippers 3, so that the above-mentioned, hanging portions of the products 9 only touch the suction members 2 and not the grippers 3 , Damage to the products 9 by the grippers 3 is thus advantageously avoided.
In the preferred embodiment of the invention shown in FIG. 1, the suction members each have a guide surface 11, against which the named sections of the products can come to rest. Alternatively, these guide surfaces 11 could also be designed as guide rollers, for example. The guide surfaces 11 support the products 9 in the upper region of the transport wheel from below, with the product length shown in FIG. 1 ultimately supporting a product 9 by two guide surfaces 11 of adjacent suction members 2.

In the upper area of the transport wheel 1 is a spring-loaded pressure belt 12 provided, which ensures that the products 9 against the guide surfaces 11 of the suction elements 2 are pressed so that the products 9 ultimately between these guide surfaces 11 and the pressure belt 12 are defined. This leadership role will also still executed when the grippers 3 are already open and the Products 9 have released, which ultimately means that the products 9 in the upper area of the transport wheel 1, in which the grippers 3 are opened are exclusively from the guide surfaces 11 and the pressure belt 12 are held and guided.

A dashed line runs radially inward from the pressure band 12, only schematically indicated ribbon conveyor 13, which ensures that the leading end portions of the between guide surfaces 11 and pressure belt 12 held products 9 raised and thus radially outward from the orbit of the transport wheel 1 be guided away in order in this way to a downstream of the transport wheel 1 Conveyor belt 14 can be fed.

2a to d again show the individual method steps in a detailed view for receiving and transferring the products 9 with a device 1.

Fig. 2a illustrates that the suction head 6 one. Suction device 2 for recording of a product 9 relative to the base or carrier unit 4 is pivoted that the suction direction of the suction head 6 essentially is oriented perpendicular to the product surface. The one Suction head 6 having bellows suction cups so close to the one to be accommodated Product 9 introduced that a suction of the product 9 takes place.

The sucked product 9 is replaced by a product in the direction of the arrow Rotation of the transport wheel 1 as well as by a clockwise Swiveling movement of the suction head 6 relative to the base or Carrier unit 4 increasingly lifted off the product stack 8, what can be seen from FIGS. 2b and 2c. This lifting process is ongoing such that the sucked end of the product 9 into the receiving area of the suction element 2 in the direction of rotation of the transport wheel 1 downstream gripper 3 arrives (Fig. 2c).

In this position, the gripper 3 can then be closed and switched off the suction of the suction head 6 take place, which leads to the fact that the product 9 originally picked up by the suction head 6 to the gripper 3 was passed and accordingly only held by the gripper 3 will (Fig. 2d).

After this transfer of the product 9 to the gripper 3, the remains Suction head 6 essentially in its pivot position shown in FIG. 2d, since in this position the guide surface 11 of the suction member 2 so is aligned that it has the function of Support from the respective suction element 2 leading products can take over.

From Fig. 1 it can be seen that a pivoting back of the suction heads 6 in it will only take up its position again when the products 9 lifted from the guide surfaces 11 by the ribbon conveyor 13 were.

Fig. 3 shows a side view of a second embodiment of an inventive Contraption. In contrast to the device according to 1, only the suction members 2 are fixed with a transport wheel 15 coupled, while the grippers 3 releasably engaged with the transport wheel 15 are feasible. Alternatively, it would also be possible to have two separate, side by side arranged transport wheels for grippers 3 and suction elements 2 provided. The grippers 3 are only schematically dash-dotted with one indicated funding 16 coupled, which is suitable is the gripper 3 of the lower half of the orbit of the transport wheel 15 feed (arrow A) and remove them from this area (Arrow B).

For the purpose of releasable coupling between grippers 3 and transport wheel 15, the transport wheel 15 is distributed along its circumference with equidistant Grooves 17 provided for receiving the pivot axes 18 of the grippers 3 serve. Relative to the circumference of the transport wheel 15 is one Groove 17 is provided in the middle between two adjacent suction elements 2. The pivot axes 18 of the grippers 3 are with the conveyor 16 coupled and thus form the basic or Carrier units of the grippers 3.

The device shown in FIG. 3 ensures that the arrangement of suction elements 2 and grippers 3 in the receiving and transfer section of the transport wheel 15 corresponds exactly to the arrangement that has already been explained with reference to FIG. 1. The functional sequence of the recording and transfer process is accordingly the same for the two devices according to FIGS. 1 and 3. The essential difference between the two devices is that the products transferred from the suction elements 2 to the grippers 3 can be conveyed away from the area of the transport wheel 15 together with the respectively assigned grippers 3 with a device according to FIG. 3, so that accordingly in the area of the transport wheel 15, in contrast to the device according to FIG. 1, the grippers 3 are not opened after picking up a product.
As an alternative to the exemplary embodiment according to FIG. 3, it is also possible to guide the conveying means 16 at an angle other than that shown in FIG. 3 towards or away from the transport wheel 15, so that ultimately the arrows A and B shown in FIG. 3 do not must run parallel to each other.

Fig. 4 illustrates that both the device of Fig. 1 and 3 not only for receiving stacked products, but also to accommodate delivered in scale formation Products 9 can serve. The admission and handover process is essentially identical here, the only difference is in that the products themselves during the reception and Transfer process in the direction of arrow C are promoted.

Fig. 5 shows a side view of a usable according to the invention Gripper 3. This gripper 3 has a base or carrier unit 5, which is firmly coupled to the transport wheel 1, which is only shown in certain areas. At the radially outer end of the base and support unit 5, one is perpendicular axis 18 extending to the direction of rotation of the transport wheel 1 is provided, around the two legs 19, 20 of the gripper 3 pivotally mounted are. The leg 19 leading in the direction of rotation of the transport wheel 1 is made of rigid material, while the corresponding trailing Leg 20 is resilient, so the recording is different thicker products 9 without significant changes in control to enable the gripper 3.

Both legs 19, 20 each have one at their radially inner end Guide roller 21, 22, at least in the receiving and transfer area of the transport wheel 1 along guide links, not shown run and thus the desired opening and closing movements of the gripper 3.

To the left and right of the gripper 3 in FIG. 5 is a base or carrier unit 4 indicated for one suction element 2 each. 5 is the same The course of the ribbon conveyor 13 (see Fig. 1) can be seen.

6 shows a frontal view of a gripper designed as a pair of grippers 3. The gripper 3 accordingly consists of two side by side arranged gripper elements 23, each gripper element 23 each has two legs 19, 20 for gripping a product 9. In the Direction of rotation of the double-walled transport wheel according to FIG. 6 1 leading leg of the two gripper elements 23 are fixed coupled with each other, their movement from the common leadership role 22 is triggered, which is in the receiving and transfer area of the Transport wheels 1 runs along a guide link, not shown. The same applies to the two in the direction of rotation of the transport wheel 1 trailing leg 20 of the gripper elements 23, the are also rigidly coupled and acted upon by the guide roller 21 become.

6 that the suction head 6 of a suction element 2 is arranged centrally between the two gripper elements 23, so that the suction head 6 easily defines and controls a product 9 can move the area of the open gripper legs without The suction head 6 and gripper elements 23 collide with one another.

Finally, it is shown in FIG. 6 that the ribbon conveyor 13 according to FIG. 1 can be formed as a pair of ribbons in this embodiment, whereby it is achieved that a lifting of the product 9 from both Gripper elements 23 can be done easily.

Fig. 7 shows schematically that alternatively to the embodiment according to 6, only a single gripper 25 can be used, which has two gripper legs 26 and 27, between which a product 9 is held. In this case it is advantageous if left and a suction member 28 is arranged on the right next to the individual gripper 25 is the necessary for the recording and transfer process pivoting movements Execute in parallel and synchronously with each other. Is preferred it occurs when both suction elements 28 are mechanically rigidly coupled to one another become. Just like the movements of the suction elements 28, this takes place Activation of the suction function in both suction elements 28 in a time-synchronous manner Wise.

By the provision of two suction elements 28 when using one Single gripper 25 ensures that a product 9 reliably in the Recording area of the single gripper 25 can be transferred.

The embodiment shown in FIG. 7 can be particularly advantageous in an arrangement according to FIG. 3 with rotating on a transport wheel 15 Suction elements 2 and grippers conveyed along a conveying means 16 3 are used.

Claims (13)

1. Apparatus for transporting flexible, sheet-like products, in particular printed products (9), away and/or further, having a plurality of grippers (3; 25) which can be moved along a gripper-conveying route and follow one after the other in the transporting direction, each of which grippers has legs (19, 20; 26, 27), which can pivot relative to one another between an open position and a closed position, and having a plurality of suction elements (2) which can be moved along a suction-element-conveying route, are conveyed, in a receiving and transfer region, through a suction-element transporting wheel (1, 15) that can be driven in rotation and each have a suction head (6), which can be pivoted about a pivot spindle (7), which is connected to the suction-element-transporting wheel (1, 15) and runs with the latter, between a receiving position and a transfer position and which, in this receiving and transfer region, in each case in the receiving position, sucks up one end of a product (9), in the transfer position transfers the sucked-up end of this product (9) to an open gripper (3, 25), and, after this gripper (3: 25) has been closed, releases the sucked-up end, which is now retained by the gripper (3; 25), of the product (9), characterized in that a gripper-transporting wheel (1, 15), which can be driven in rotation and conveys the grippers (3; 25) in the receiving and transfer region, is provided, to which gripper-transporting wheel the grippers (3; 25), during transport, can be releasably coupled or are non-releasably coupled, and in that the path which is passed through by the pivot spindles (7) in the receiving and transfer region runs along or parallel to the gripper-conveying route.
2. Apparatus according to Claim 1, characterized in that the length of that section of the path of the pivot spindles (7) which runs along or parallel to the gripper-conveying route is such that at least two successive grippers (3) are located in this section.
3. Apparatus according to Claim 1 or 2, characterized in that, in the receiving and transfer region; the gripper-conveying route and the path of the pivot spindles (7) run on concentric circular paths.
4. Apparatus according to one of Claims 1 to 3, characterized in that, in the receiving and transfer region, in each case one gripper (3) and one suction element (2) are assigned to one another.
5. Apparatus according to one of Claims 1 to 4, characterized in that, in the receiving and transfer region, the distance between two successive grippers (3) corresponds to the distance between two successive suction elements (2).
6. Apparatus according to one of Claims 1 to 5, characterized in that, in the receiving and transfer region, the suction-element-conveying route and the gripper-conveying route run centrally along, in particular centrally above, the products (9) which are to be received.
7. Apparatus according to Claim 8, characterized in that the gripper-conveying route is formed by a conveying means (16) which runs along the transporting wheel (15) in certain sections and has grippers (3) coupled to it.
8. Apparatus according to Claim 1 or 7, characterized in that the suction-element transporting wheel and gripper-transporting wheel are designed as a single, in particular double-walled transporting wheel (1, 15) for conveying both the suction elements (2) and the grippers (3).
9. Apparatus according to one of Claims 1 to 8, characterized in that the suction elements have a guide means (11) which acts in the transfer position of said suction elements and is intended for guiding in a defined manner between the guide means (11) and a counter-pressure apparatus (12) a product (9) which is not retained by means of suction action.
10. Apparatus according to Claim 9, characterized in that the counter-pressure apparatus is designed as a pressure-exerting belt (12).
11. Apparatus according to one of Claims 1 to 5 and 7 to 10, characterized in that each gripper (3) assigned to a suction element (2) is designed as a gripper pair (23), it being the case that, in the receiving and transfer region, the suction element (2) is arranged between the two grippers of the respectively associated gripper pair (23).
12. Apparatus according to one of Claims 1 to 5 and 7 to 10, characterized in that each suction element assigned to a gripper (25) is designed as a suction-element pair (28), it being the case that, in the receiving and transfer region, the gripper (25) is arranged between the two suction elements of the respectively associated suction-element pair (28).
13. Apparatus according to one of Claims 1 to 12, characterized in that the gripper movements, the suction-element movements and the activation of the suction elements are controlled by control guides and/or toothed-belt gear mechanisms.

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