WO1996025355A1 - Verfahren und vorrichtung zum entnehmen und übergeben eines gegenstands aus einer ersten station an eine zweite - Google Patents
Verfahren und vorrichtung zum entnehmen und übergeben eines gegenstands aus einer ersten station an eine zweite Download PDFInfo
- Publication number
- WO1996025355A1 WO1996025355A1 PCT/EP1996/000512 EP9600512W WO9625355A1 WO 1996025355 A1 WO1996025355 A1 WO 1996025355A1 EP 9600512 W EP9600512 W EP 9600512W WO 9625355 A1 WO9625355 A1 WO 9625355A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- gripper
- support
- station
- support means
- gripper device
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H31/00—Pile receivers
- B65H31/30—Arrangements for removing completed piles
- B65H31/3036—Arrangements for removing completed piles by gripping the pile
- B65H31/3045—Arrangements for removing completed piles by gripping the pile on the outermost articles of the pile for clamping the pile
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2301/00—Handling processes for sheets or webs
- B65H2301/40—Type of handling process
- B65H2301/42—Piling, depiling, handling piles
- B65H2301/422—Handling piles, sets or stacks of articles
- B65H2301/4224—Gripping piles, sets or stacks of articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2301/00—Handling processes for sheets or webs
- B65H2301/40—Type of handling process
- B65H2301/42—Piling, depiling, handling piles
- B65H2301/422—Handling piles, sets or stacks of articles
- B65H2301/4224—Gripping piles, sets or stacks of articles
- B65H2301/42242—Gripping piles, sets or stacks of articles by acting on the outermost articles of the pile for clamping the pile
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2402/00—Constructional details of the handling apparatus
- B65H2402/30—Supports; Subassemblies; Mountings thereof
- B65H2402/35—Supports; Subassemblies; Mountings thereof rotating around an axis
- B65H2402/351—Turntables
Definitions
- the invention relates to a device for removing and transferring an object, in particular a stack of layers placed one above the other, in particular paper products, e.g. Signatures, from a first station, for example a collection point, to another, a second
- the device has a gripper device which has an upper and a lower gripper unit, the gripper device from a first position, in which it is located in or in front of the collection point, hereinafter referred to as the first station, after it has been moved out of the first Station and after a rotation to a second position, ie in front of the second station, is movable.
- the gripper units of the gripper device are dimensioned such that they do not completely overlap or even overlap the object, in this case a stack of signatures, over the entire length of the signatures, but only up to half of the signatures so that later in the second station the stack can still be strapped in the gripper.
- this has the consequence that, despite stabilization measures, the area of the stack which has not been gripped, in particular in the case of flat stacks, sags downward and is exposed to the risk of damage.
- the present invention is therefore based on the object of specifying a method by means of which the stack or general or such an object can be moved as safely as possible from one station to a second, and to further develop the device from P 44 27 703.2 in such a way that a hanging down of the undetected part of an object, eg Superimposed layers, in particular signatures, can remove the risk of damage when removing them from a first station and transferring them to a second station.
- the object is achieved in that the gripper device pulls the object after it has been grasped when it moves back out of the collection point onto a support means on which the object remains resting during the rotation of the rotary table and from which it comes when the gripper device is approached is pushed back to the processing or storage place in the second station.
- a support extension is extended at least on the lower gripper unit, which extends the lower gripper unit to the front, so that the object, which is only gripped in the front area, rests on a larger support .
- the support or the extension of the support when the gripping device is moved towards the processing Storage or storage place of the second station retracted so that the intended processing step, for example strapping, can take place there without handling means hindering this strapping.
- the object is achieved in that support means are arranged on the same level with or slightly below the lower gripper unit, on which the object comes to rest after being gripped when it moves out of the first station.
- the support means can expediently be brought into function and out of function, forming an extension of the lower gripper unit in the functional mode.
- the support means can be moved in a controlled manner over a predetermined distance, essentially parallel to the lower gripper unit.
- the support means are arranged on the gripper device.
- the support means can be locked in a predetermined position in relation to the gripper device. It is advantageously locked on the turntable. Then it is advantageous if means for releasing the locking of the support means are arranged on the gripper device.
- the support means are advantageously guided on the lower gripper unit.
- the lower gripper unit has, in a preferred embodiment, longitudinally slotted tubes or U-section supports which are open at the bottom as gripper parts, in which the support means designed as support rails are arranged.
- the support rails are provided with a control bracket, the length of which essentially corresponds to the support length of the rails.
- a pawl mechanism is arranged at the end of the control bracket facing the gripper device.
- a favorable design provides that the pawl mechanism is locked on the one hand with a cam arranged on the outer edge of the rotary table and on the other hand is released by a cam arranged in the front area of the gripper device. In this case, the pawl of the pawl mechanism is pulled into the latching position by means of a spring.
- the support rails remain in the released position in a friction-controlled manner with respect to the gripper device.
- control bracket is essentially ⁇ -shaped, the laterally directed legs of the ⁇ each being fixed to a support rail and the arch of the ⁇ carrying the pawl at its end region.
- the cam of the turntable moves into the ⁇ arc during the forward movement of the gripper device and engages with the pawl at the arc end.
- the support means are designed as a piston-cylinder arrangement.
- the support means or the like by a piston-cylinder arrangement. are controlled.
- the support means extend their entire length when the object is passed underneath, whereas they are retracted when approaching the processing or storage position in the second station and are completely retracted when this end position is reached.
- the support means are designed as support table or rail devices arranged on the turntable, which can be set to the same level or slightly lower than the object support level.
- These support means are then adjustable on the same level or slightly higher than the object support in the second station.
- Fig. L in side view of a device according to the invention with gripper device and collection point.
- FIG. 2 is a view of the device of FIG. 1 from above
- Fig. 3 is a side view of the device of Fig. 1 with a stack placed on a support.
- FIG. 4 shows the device in the position according to FIG. 3 from above without a stack
- 5 shows a view of the device with gripper device on the rotary table in the rotary position
- Fig. 6 is a view of the device in position according to FIG. 5 from above
- FIG. 7 shows a detailed view of the device in the position according to FIG. 1
- Fig. 8 is a view of the device of FIG. 7 from above
- FIG. 9 is a view of the device in position according to FIG. 3,
- FIG. 10 is a view of the device in position according to FIG. 9,
- Fig. 11 shows another embodiment of the device in side view.
- FIG. 13 is a top view of the embodiment of FIG. 12, and
- FIG. 14 is a side view of a further exemplary embodiment.
- Figures 1 to 10 is a device for removal and transferring a stack 12 from a collection point 2 in a stacking device.
- the collection point 2 is referred to as station 1 in the further course of the description.
- the device removes the stack from station 1 and transfers it to a second station (not shown), which can be a strapping station or any other processing station or handling station, according to a method which will be explained in more detail later.
- the overall device according to patent application P 44 27 703.2 has two gripper devices 3 arranged on a rotary table, only one of which is shown in FIG. 1. These two gripper devices work alternately in cycles.
- the gripper device 3 has two gripper units 4 and 5, which can be rod-like components.
- both the upper and the lower gripper units 4 or 5 or only the upper gripper unit 4 are designed to be height-adjustable for the purpose of gripping and pressing the object. In the exemplary embodiment shown, at least the upper gripper unit 4 can be moved in height.
- the gripper unit can be moved back and forth on the turntable 6 on a rail arrangement C.
- the lower gripper unit is equipped with a support means 7, which is arranged on the same level with or slightly below the level of the lower gripping unit. After grasping the object, it is pulled onto the support while moving out of the first station.
- the support means 7 only function when the gripper units are in motion from the first station. Then the support means form an extension for the lower gripper unit 5.
- the support means after they have come into operation with their full support surface, can be moved in a controlled manner in parallel with the gripper unit over a predetermined distance. The distance is limited by the length of the rails for the gripper device 3 on the turntable.
- the support means are arranged on the gripper device 5. So that the object, i.e. the stack 12 onto which the support means 7 can be loaded while the gripper device moves backwards, the support means is locked in a predetermined position in relation to the gripper device 3 (see FIGS. 3, 4, 7, 8) . If the object is now properly arranged on the support means, the support means becomes relevant. the gripper device 3 is released and moves back together with the gripper device the aforementioned predetermined distance on the turntable, so that the turntable can carry out its predetermined rotation in the further course of handling (cf. FIG. 5).
- the lower gripper unit 5 has tubular or U-profile supports 14 slotted in the longitudinal direction as gripper parts (see FIG. 7).
- the support means designed as support rails 8 in this exemplary embodiment are received and guided therein.
- the support rails are attached to a control bracket 13 at their end facing the gripper device.
- the control bracket 13 consists essentially of the shape of the Greek letter Omega ⁇ whose side legs 19 are each rigidly connected to a support rail 8.
- the arc 20 of the ⁇ extends elongated in the direction of the gripper device parallel to the longitudinal axis of the support rails 8 and carries the pawl mechanism 10 at its arcuate end.
- the pawl mechanism 10 has a pawl 18 which is pulled into the latching position by means of a spring 7 ( Fig. 8).
- a cam 15 is arranged on the turntable 6, with which the pawl 8 engages when the gripper device 3 is in its foremost end position. In this position, the lower gripping unit 5 engages under the object in the collection point 2.
- means for releasing 9 of the pawl mechanism 10 are provided between the tubular rods of the lower gripper unit 5.
- These means for releasing consist of a downwardly directed cam 16 which can engage with a hook 18 'of the pawl 8 in such a way that the latching of the pawl 18 with the cam 15 of the turntable 6 is released (FIG 9, 10).
- the device is suitable for gripping and transferring an object, for example superimposed layers of paper, sheet metal or the like, from a collection point, in which these layers are arranged in a stack, to a second processing or treatment station.
- the method is to be described in connection with a collecting point for printed products, in particular signatures, designed as a stacker.
- the gripper device 3 moves with the gripper units 4, 5 open into the collecting point 2 or the stacker and overlaps the uppermost layer of the stack with the upper gripper unit, while the lower one Gripper unit 5 engages under the stack.
- the lower gripper unit which is designed as a parallel to each other extending rod arrangement, can move freely under the stack.
- the collected and cross-placed signatures are strapped for transport in a next step in a second station.
- the strapping advantageously takes place at a point in time at which the gripper units are still holding the stack in a compressed state. For this reason, the gripper units must not protrude into the area where the strapping takes place. As a rule, the gripper units therefore only grip the stack in an area that ends shortly before the middle of the stack. As already described at the beginning, it can happen that in the case of certain products this results in insufficient support of the stack, so that damage to the stack can occur during transport from the collection point to the next processing station. This is where the invention intervenes.
- the gripper units 4, 5 After the gripper units 4, 5 have gripped the stack 12, it can be raised by a predetermined amount. the, the gripper device 3 moving backwards or immediately afterwards and pulling the stack out of the collection point. Lifting is not required for certain products.
- the lower gripper unit is provided with a ramp that slightly raises the stack when moving under it.
- the support means are arranged as support rails in the rods 14 of the lower gripper unit 5 which are designed as tubes. During the retraction of the gripper device, these support rails are increasingly released and are virtually pushed under the stack 12 moved to the left in FIG. 1. After a predetermined distance, the entire rest of the stack, which is not covered by the lower gripper unit 5, lies on the support means 7 or the support rails 8 (Fig. 3). At this time, the latching of the support means with the turntable 6 is released, and the support means 7 continue to move together with the gripper device 3 on the turntable 6 back to an end stop at which the gripper device 3 comes to a standstill (FIG. 5).
- the means for releasing the locking device 9, which is arranged in the front area of the gripper device 3 remains. Neten downwardly projecting cams 16, further engaged with the pawl 18 of the pawl mechanism 10 (Fig. 10).
- the turntable rotates in order to bring the gripper device 3 and thus the stack 12 into position with respect to a second station in which the next treatment step, for example strapping, is to take place.
- the gripper device 3 now moves forward, the support means 7 remaining in their relative position to the gripper device 3 due to a controlled friction in the guidance of the tubes 14 and on the control bracket 13.
- FIGS. 3 and 4 Reference can now be made again to FIGS. 3 and 4, with the sign that it should now be station 2.
- the stack 12 has not yet reached its storage or processing position, but the pawl mechanism 10 at the end of the arc 20 of the control bracket 13 comes into engagement with the cam 15 of the rotary table 6 again at this point in time Support means 15 locks, whereas the gripper device 3 and thus also the stack 12 move further in the direction of the processing position.
- Fig. 3 it can be clearly seen that the end of the support rails 8 has come to a standstill at a distance in front of the machining center line BM.
- the gripper device 3 is moved in further, the stack 12 is pushed over the support rails 8 and in this way reaches its end position, as can be seen, for example, by analogous consideration of FIG. 1.
- the next processing step for example strapping
- the gripper device can take place immediately after reaching this position, with the gripper device being separated shortly after the start of this processing step.
- driving the upper and / or lower gripper unit 4, 5 can be solved.
- the gripper device 3 then moves out of the station 2, the same mechanical sequence taking place with respect to the support means 7 as described during the movement out of the first station. This means that when the gripper device 3 is moved back into the gathering point of the cross-layer, the support rails first move under the stack 12 and that as the movement of the gripper device 3 continues, the tubes 14 slide over the support rail.
- the gripper device 3 has reached its end position in the collecting point 3, the removal process proceeds again as described.
- the lower gripper unit cannot be moved in height, but it is provided with a ramp in the front area so that it can be easily pushed under the stack in the collection point.
- the lower gripper unit is also height-adjustable, it can be opened during opening, i.e. the downward movement, after a predetermined path, the cams 15 of the turntable out of engagement with the pawl 18. The locking can then only take place again after the lower gripper unit has been raised.
- the support means consist of a piston-cylinder arrangement 21, 21 ', the piston 21' being designed as a support.
- the piston-cylinder arrangement is then controlled in accordance with the aforementioned embodiment in accordance with the retraction and extension of the gripper device.
- the ratchet mechanism is omitted, but a corresponding valve control is necessary in order to switch to the to ensure that the support means come into effect at the time required in each case.
- the support means 7, in the present case the support rail 8, is controlled via a piston-cylinder arrangement 21.
- This piston-cylinder arrangement 21 replaces the mechanical control of the support means, with a corresponding control sequence for the chronological sequence of the function the support means, here support rail 8, controls.
- FIG. 13 shows the exemplary embodiment shown in FIG. 12 in a top view.
- a cross member 8 ' is provided between the two support rails 8 and connects the two rails to one another.
- the support means 7 consist of a rigid plate or rail arrangement fixed to the turntable 6. This plate or rail arrangement extends directly to the collecting table of station 1 and also the storage table of station 2, this requiring a special structural adaptation of the stations and also of the rotary table. After the object 12 has been gripped, it is merely pulled from the collecting point onto the support 7 and remains there during the rotation, held by the gripper device 3.
- the gripper device moves into the second collecting station and in this way pushes the object 12 into the second station.
- the level of the support 7 is the same, preferably slightly below the level of the collecting table of the station 1, but on the other hand the support 7 is the same, preferably slightly higher than the level of the support of the station 2.
- the device and the method are not limited to the exemplary embodiments shown and described.
- a control of the support means by an electrically controlled actuator is not shown, but it also falls within the scope of the claims as well as the means required to operate the piston-cylinder arrangements described pneumatically or hydraulically.
- the scope of the invention is also not limited to the handling of signatures in a stacked form. In the same way, with corresponding adaptations of the elements forming the invention, applications in the area of handling any flat structures can fall within the scope of protection.
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP96904012A EP0755357B1 (de) | 1995-02-13 | 1996-02-07 | Verfahren und vorrichtung zum entnehmen und übergeben eines gegenstands aus einer ersten station an eine zweite |
DE59603838T DE59603838D1 (de) | 1995-02-13 | 1996-02-07 | Verfahren und vorrichtung zum entnehmen und übergeben eines gegenstands aus einer ersten station an eine zweite |
JP8524632A JPH11505497A (ja) | 1995-02-13 | 1996-02-07 | 物体を取り上げて第1ステーションから第2ステーションへ搬送する装置及び方法 |
US08/727,657 US5911557A (en) | 1995-02-13 | 1996-02-07 | Process and device for taking an object up and transferring it from a first station to a second |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19504686.2 | 1995-02-13 | ||
DE19504686A DE19504686A1 (de) | 1994-08-04 | 1995-02-13 | Verfahren und Vorrichtung zum Entnehmen und Übergeben eines Gegenstands aus einer ersten Station an eine zweite |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1996025355A1 true WO1996025355A1 (de) | 1996-08-22 |
Family
ID=7753794
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP1996/000512 WO1996025355A1 (de) | 1995-02-13 | 1996-02-07 | Verfahren und vorrichtung zum entnehmen und übergeben eines gegenstands aus einer ersten station an eine zweite |
Country Status (5)
Country | Link |
---|---|
US (1) | US5911557A (de) |
EP (1) | EP0755357B1 (de) |
JP (1) | JPH11505497A (de) |
AT (1) | ATE187413T1 (de) |
WO (1) | WO1996025355A1 (de) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE59903294D1 (de) * | 1998-07-03 | 2002-12-12 | Ferag Ag | Vorrichtung zum Stapeln von flächigen Gegenständen |
CN106114932B (zh) | 2011-10-24 | 2018-10-26 | 莱米迪科技控股有限责任公司 | 一种包装插入模块及其用于传送包装的方法 |
CN109179040B (zh) * | 2018-09-21 | 2020-06-02 | 南京理工技术转移中心有限公司 | 一种打印机的出纸收集装置 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0096398A1 (de) * | 1982-06-05 | 1983-12-21 | Icoma Packtechnik GmbH | Transportvorrichtung für Papiersackpakete |
US4588070A (en) * | 1984-11-13 | 1986-05-13 | The Dow Chemical Company | Bag transfer device |
US4787810A (en) * | 1987-09-04 | 1988-11-29 | Cawley Wesley D | Method and apparatus for handling stacks of loose sheet material |
DE4032854A1 (de) * | 1989-10-18 | 1991-04-25 | Brehmer Buchbindereimaschinen | Drehbare einrichtung zum horizontalen verschieben eines stapels |
DE4427703A1 (de) * | 1994-08-04 | 1996-02-15 | Hagen Gaemmerler | Vorrichtung zum Entnehmen eines Stapels von flächenähnlichen Produkten aus einer Sammelstelle |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3085501A (en) * | 1960-10-06 | 1963-04-16 | Bunn Co B | System for automatically tying bundles |
SE421781B (sv) * | 1980-01-28 | 1982-02-01 | Wamac Machinery Ab | Anordning vid en maskin serskilt avsedd for lastning av losa tidningsbuntar pa en lastpall |
CH658639A5 (de) * | 1981-06-05 | 1986-11-28 | Stobb Inc | Verfahren und anordnung zum selbsttaetigen foerdern von bogen von einer druckerpresse zu einer bogenbindevorrichtung. |
DE8316127U1 (de) * | 1983-06-01 | 1983-12-29 | Icoma Packtechnik GmbH, 7590 Achern | Transportvorrichtung fuer papiersackpakete |
EP0377399B1 (de) * | 1988-12-31 | 1992-12-02 | System Gmbh | Greifvorrichtung |
DE9103498U1 (de) * | 1991-03-21 | 1991-06-27 | Manitec Ag, Emmen, Ch | |
DE4241800A1 (de) * | 1992-12-11 | 1994-06-16 | Busch Gerhard Gmbh | Zuführvorrichtung für aus einer Vielzahl von Einzelblättern bestehenden Nutzenstapeln zur Weiterverarbeitung, mit einem einem Zuführschieber zugeordneten Zwischenblech |
-
1996
- 1996-02-07 EP EP96904012A patent/EP0755357B1/de not_active Expired - Lifetime
- 1996-02-07 AT AT96904012T patent/ATE187413T1/de not_active IP Right Cessation
- 1996-02-07 WO PCT/EP1996/000512 patent/WO1996025355A1/de active IP Right Grant
- 1996-02-07 US US08/727,657 patent/US5911557A/en not_active Expired - Fee Related
- 1996-02-07 JP JP8524632A patent/JPH11505497A/ja active Pending
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0096398A1 (de) * | 1982-06-05 | 1983-12-21 | Icoma Packtechnik GmbH | Transportvorrichtung für Papiersackpakete |
US4588070A (en) * | 1984-11-13 | 1986-05-13 | The Dow Chemical Company | Bag transfer device |
US4787810A (en) * | 1987-09-04 | 1988-11-29 | Cawley Wesley D | Method and apparatus for handling stacks of loose sheet material |
DE4032854A1 (de) * | 1989-10-18 | 1991-04-25 | Brehmer Buchbindereimaschinen | Drehbare einrichtung zum horizontalen verschieben eines stapels |
DE4427703A1 (de) * | 1994-08-04 | 1996-02-15 | Hagen Gaemmerler | Vorrichtung zum Entnehmen eines Stapels von flächenähnlichen Produkten aus einer Sammelstelle |
Also Published As
Publication number | Publication date |
---|---|
ATE187413T1 (de) | 1999-12-15 |
EP0755357B1 (de) | 1999-12-08 |
US5911557A (en) | 1999-06-15 |
JPH11505497A (ja) | 1999-05-21 |
EP0755357A1 (de) | 1997-01-29 |
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