EP1652667A2 - Manipulateur de plaques d'impression - Google Patents

Manipulateur de plaques d'impression Download PDF

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Publication number
EP1652667A2
EP1652667A2 EP05020159A EP05020159A EP1652667A2 EP 1652667 A2 EP1652667 A2 EP 1652667A2 EP 05020159 A EP05020159 A EP 05020159A EP 05020159 A EP05020159 A EP 05020159A EP 1652667 A2 EP1652667 A2 EP 1652667A2
Authority
EP
European Patent Office
Prior art keywords
manipulator
printing
printing form
joint
head
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP05020159A
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German (de)
English (en)
Other versions
EP1652667A3 (fr
EP1652667B1 (fr
Inventor
Beat Luginbühl
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wifag Maschinenfabrik AG
Original Assignee
Wifag Maschinenfabrik AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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Priority claimed from DE200410052021 external-priority patent/DE102004052021A1/de
Priority claimed from DE200410052020 external-priority patent/DE102004052020B8/de
Application filed by Wifag Maschinenfabrik AG filed Critical Wifag Maschinenfabrik AG
Publication of EP1652667A2 publication Critical patent/EP1652667A2/fr
Publication of EP1652667A3 publication Critical patent/EP1652667A3/fr
Application granted granted Critical
Publication of EP1652667B1 publication Critical patent/EP1652667B1/fr
Anticipated expiration legal-status Critical
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41F—PRINTING MACHINES OR PRESSES
    • B41F27/00—Devices for attaching printing elements or formes to supports
    • B41F27/12—Devices for attaching printing elements or formes to supports for attaching flexible printing formes
    • B41F27/1206—Feeding to or removing from the forme cylinder
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41P—INDEXING SCHEME RELATING TO PRINTING, LINING MACHINES, TYPEWRITERS, AND TO STAMPS
    • B41P2227/00—Mounting or handling printing plates; Forming printing surfaces in situ
    • B41P2227/60—Devices for transferring printing plates
    • B41P2227/62—Devices for introducing printing plates
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41P—INDEXING SCHEME RELATING TO PRINTING, LINING MACHINES, TYPEWRITERS, AND TO STAMPS
    • B41P2227/00—Mounting or handling printing plates; Forming printing surfaces in situ
    • B41P2227/60—Devices for transferring printing plates
    • B41P2227/63—Devices for removing printing plates

Definitions

  • the invention relates to a printing form manipulator for an automatic insertion or removal of a printing form in a printing unit of a printing press.
  • the printing form manipulator in preferred embodiments is a printing plate changer for automatically unhooking a printing form and automatically mounting a new printing plate in place of the printed form.
  • the printing machine is preferably a rotary printing machine and may be in particular a web-fed rotary printing press.
  • the printing form manipulator is used in such applications for mounting or unmounting a printing form in or from a printing form cylinder of such a printing press.
  • the printing form is flexible and can in particular be a printing plate for offset printing, both for wet offset printing and dry offset.
  • the invention is particularly preferably used in the printing of newspaper editions.
  • Printing form manipulators are described in DE 100 10 056 A1, DE 109 34 271 A1, US Pat. No. 4,727,807 and EP 0 431 364 B1.
  • the printing plate support for example, the printing form cylinder of a rotary printing machine, be installed by additional equipment such as car washes.
  • a printing form manipulator which may be installed in a printing press, provided for installation or basically as a robot separate from the printing press, comprises at least one movable manipulator arm, at least one manipulator head with at least one holding member for a printing form and at least two joints, of which a first the manipulator head in at least one plane pivotally or only rotatably connected to the manipulator arm. In the second of these joints, the manipulator head is connected to the manipulator arm in a translatory manner in the same plane in the longitudinal direction of the manipulator arm.
  • the invention permits changes in the plane of translation without sacrificing freedom of movement in a confined space the position of the manipulator head relative to the manipulator arm.
  • the printing form manipulator according to the invention accordingly places lower demands on the accessibility in the printing unit. It is particularly advantageous if the manipulator head can be moved along the manipulator arm in an overlapping manner along the manipulator arm in the longitudinal direction.
  • the second joint formed as a translational joint permits an at least substantially pivot-free translational movement of the manipulator head relative to the manipulator arm, preferably allowing a completely pivot-free relative movement. It comprises in preferred embodiments as joint elements a guide curve and guided by the guide cam engagement member, for example, a sliding or rolling carriage. Guide curve and engaging member can also form a guide in the longitudinal direction of the manipulator arm, as in the case of a telescope, for the other joint element in each case.
  • the engagement member or preferably the guide cam is connected to the manipulator arm.
  • the other joint element of Translational joint is connected to the manipulator head.
  • the translational joint is preferably formed as a simple slip joint.
  • a plurality of engagement members may be provided, for example, a plurality of rolling elements, which roll on the guide cam.
  • the manipulator head is carried along by the joint element connected to it in the joint, ie on the adjustment path formed by the joint.
  • the first joint is advantageously not required and also not used to adjust the position of the manipulator head as a whole relative to the manipulator, but for adjusting the rotational angle orientation of the manipulator head relative to the manipulator and also to the printing unit.
  • a pivot arm formed between the second joint and the at least one retaining element of the manipulator head should be as small as possible. Such a pivoting arm can even be completely eliminated by the hinge axis of the first joint, d. H. the axis of rotation of which extends in the contact plane of the at least one retaining member and a printing block held by the retaining member.
  • the first joint is a pure hinge.
  • a pivoting arm is formed between the first joint and a pressure mold held by the retaining element, then this advantageously is shorter than a maximum path length which the manipulator head can travel in the second joint.
  • a pivot axis should be at most 20 cm, preferably at most 10 cm, long. This allows a rotational angle alignment of the manipulator head in a confined space.
  • the manipulator arm is preferably arranged pivotably in the plane of the translational movement and the pivoting or even pure rotary movement of the manipulator head.
  • the second hinge allows the translational movement of the first articulation on a pivot axis of the pivotable manipulator arm to and from this pivot axis away, so as to vary the effective for the manipulator head length of the arm formed by the manipulator arm can.
  • the translational movement is preferably a linear movement. In particular, the translational movement can be directed exactly to the pivot axis of the manipulator arm.
  • the manipulator arm can also move in the plane of translational movement of the manipulator head be translationally movable, preferably in the vertical and horizontal directions, but in any case so that the first joint can be moved by the movement of the manipulator arm on a printing form carrier to and away.
  • the manipulator is articulated on a robot platform or preferably on a frame part of a printing press frame, which supports the components of the printing unit, preferably directly.
  • the manipulator arm on the printing press frame or possibly a relative to the printing press frame itself movable robot platform is articulated only one or more further manipulator arms which are movable relative to the frame or the platform on the one hand and the manipulator arm on the other hand.
  • the linkage to the frame or the platform is preferably designed such that the manipulator arm is pivotable and additionally translationally movable, it is preferred if the manipulator arm forms a hinge element of the swivel joint required for the swivel bearing, either the bearing shell or the journal, and the other joint element of the pivot joint is a joint element of a translational joint formed for the manipulator arm.
  • a printing press in which the printing plate manipulator is preferably used comprises a printing tower or a plurality of printing towers arranged one behind the other in the web running direction, in which the printing cylinders and other rotary bodies such as inking rollers or dampening rollers are arranged parallel to one another.
  • the printing cylinders form H-bridges with their inking units and possibly existing dampening units.
  • the H-bridges can be formed by satellite printing plants, in particular nine- or ten-cylinder printing units, or by rubber / rubber printing units.
  • one printing form manipulator according to the invention is provided per H-bridge on both sides of a printing web passing through the H-bridge.
  • the cylinders can also form only simple bridges instead of in H-bridges, which have a U- or A-shape or form a simple horizontal or vertical strip.
  • the respective simple bridges are preferably arranged parallel to one another per printing tower. It is particularly efficient if, for each two superimposed, at least substantially vertically stacked printing form carrier, preferably Printing forme cylinder, depending on a printing form manipulator according to the invention is provided.
  • Printing forme cylinder depending on a printing form manipulator according to the invention is provided.
  • Compared to an arrangement with one printing form manipulator per printing plate carrier considerable investment costs and also maintenance and repair costs can be saved, while a concept in which each printing plate support per a printing forme manipulator is provided, with respect to the time required for a printing form change is not practically relevant Advantage brings.
  • the time advantages associated with the preferred concept are considerable.
  • the manipulator head has at least two holding members, which are spaced from each other so that they contact the printing plate at two different locations and hold there.
  • the at least one holding member or preferably a plurality of holding members is or are preferably designed such that it or it must or must contact the printing form only on one of its two flat sides.
  • a particularly preferred holding member is a sucker, which may be an active or passive sucker. An active sucker is sucked constantly or at least for suction, d. H. subjected to a negative pressure.
  • a passive sucker may in particular be an elastic suction cup, which is pressed against the surface of a printing plate so that its bowl volume is reduced. When reducing, air can escape from the cup volume. If the contact pressure is taken from the suction cup, the cup volume expands elastically again, but it is ensured that no air can flow into the cup volume, so that a suction effect is achieved.
  • a preferred passive sucker is described in German Patent Application No. 10 2004 023 434 of May 10, 2004, which is incorporated herein by reference.
  • the distance between the holding members is movable relative to the other, so that the distance between the holding members can be varied.
  • the distance variation serves to buckle a flexible printing form. Becomes namely, the printing plate held by, for example, two holding members and the distance is reduced while maintaining the contact points, so the printing form warps between the two holding members.
  • the printing plate bends about an axis perpendicular to the axis of the distance variation pointing axis.
  • the distance between the holding members is preferably variable in the circumferential direction of the cylinder. But even for the general case of a printing form carrier, it is preferred if the distance of the holding members is variable in a direction in which the printing form manipulator moves the printing plate on the printing form carrier to or from this.
  • the relative movement between the at least two holding members may be, for example, a pivoting movement. Preferably, it is a translatory relative movement, particularly preferably a sliding displacement.
  • a cam mechanism d. H. a guide cam and at least one guided by the guide cam engagement member.
  • Guide curve and engaging member may advantageously be formed in the manner of a telescope, in which the two gear members lead each other, d. H. are each formed as a guide curve.
  • the at least one engagement member as a rolling body, which rolls on the guide cam.
  • the engagement member would be formed in one case as a sliding carriage and in the other as a rolling carriage.
  • the manipulator head is preferably movable not only in the plane in which the above-described movements are executed, but also transversely, preferably vertically, to this manipulation plane, preferably translationally and particularly preferably linearly movable. This further degree of freedom of movement allows an adjustment movement in order to position the held printing form transversely to the manipulation plane with respect to a page register predetermined by a printing form cylinder or, more generally, a printing form carrier.
  • the manipulator head can be placed by means of a floating support with a printing machine or connected to a robot platform.
  • the joint forming the floating bearing is preferably formed between the manipulator head and the manipulator arm, but may alternatively be between the manipulator head and the manipulator arm Manipulator and the frame or the platform to be provided.
  • the compensation is passive by means of a floating storage, ie the held printing form is centered register exactly when hanging on the printing form carrier, and the manipulator head follows in the context of its transversal mobility.
  • the manipulator head can be moved actively in an alternative embodiment by means of a drive transversely. Passive transverse mobility by means of floating storage, however, is preferred.
  • the manipulator head also has a discharge device, which ensures that the printing plate can bulge only in one of the two possible, perpendicular to the direction of the distance variation directions.
  • the direction of the bulge is of course chosen so that the printing form by the curvature easier or even can be moved past the existing obstacles on the spot.
  • the relative movement between the at least two holding members may, for example, be a pivoting movement or preferably a translatory relative movement, in particular a sliding displacement.
  • the discharge device is arranged in preferred embodiments between the variable-length holding members. This means, in the case of the distance variation preferably taking place only on one axis, that the discharge device is arranged in a projection perpendicular to the axis of the distance variation between the holding members. However, it is particularly preferred if the discharge device is formed along the axis of the distance variation between the holding members.
  • the discharge device can not be arranged between, but next to the holding members.
  • a part of the discharge can basically also be arranged between and another part next to the holding members, wherein in such embodiments it is further preferred if the two parts of the discharge independently or optionally either independently or together can be brought to act on the printing plate.
  • the manipulator head is expediently, in its entirety, facing the relevant side of the printing form.
  • the discharge device would have to be formed encompassing the printing forme from the manipulator head.
  • the discharge device may in particular comprise one or more rolling bodies or consist of one or more rolling bodies.
  • the one or more rolling elements is or are rotatably mounted in such a way that he or she can roll for clamping the printing forme on the printing form carrier on the printing plate or can.
  • the discharge device simultaneously forms in such a double function also a unwinding device for clamping the printing form.
  • unwinding either the holding members or at least one rolling body of the discharge are movable transversely to the flat side of the printing form, so that on the one hand, the holding organs unimpeded record and hold the printing form of the Ableit- / unwinding and holding the Abroll- / discharge of The holding members can not roll unobstructed on the printing form.
  • both the holding members and the unwinding / discharging device can each be arranged transversely to the flat side of the printing forme movable on the manipulator head.
  • the German patent application no. 10 2004 023 434 describes for the interplay of the holding members and a pure unwinding a solution that is also advantageous for the holding members and diverting / unwinding device of the invention.
  • the printing forme manipulator comprises in advantageous developments at least two joints, of which a first connects the manipulator head in at least one plane pivotally or only rotatably connected to the manipulator.
  • the manipulator head is in the same plane in the longitudinal direction of the Manipulator arm translationally connected to the manipulator arm.
  • the movability of the manipulator head relative to a manipulator arm supporting the manipulator head is a pivotal movement requiring a corresponding pivotal space depending on the length of the respective pivot arm
  • the invention permits changes in the plane of translation without sacrificing freedom of movement in a confined space the position of the manipulator head relative to the manipulator arm.
  • the printing form manipulator according to the invention accordingly places even lower demands on the accessibility in the printing unit. It is particularly advantageous if the manipulator head can be moved along the manipulator arm in an overlapping manner along the manipulator arm in the longitudinal direction.
  • the printing forme cylinder to be operated or another type, ie non-cylindrical printing form carrier adjacent to the plane of the pivotal movement of the manipulator head side by side receives a plurality of printing plates or arranged in this transverse direction side by side a plurality of printing form carrier, preferably also several printing form manipulators are provided side by side, advantageously one each Druckformmanipulator for each of juxtaposed printing forms.
  • the plurality of printing form manipulators arranged side by side can individually form a printing form manipulator of the type described above.
  • the plurality of printing form manipulators are arranged on a common traverse, which in turn is connected to a printing press or a robot platform via one or preferably two, optionally also more than two manipulator arms of the type described above.
  • the traverse preferably forms one of the two joint elements of the second joint, ie the translational joint.
  • the manipulator head is thus connected via the traverse with the manipulator arm.
  • the manipulator heads arranged next to one another on the traverse can each be connected to the traverse individually by means of the first articulation described above.
  • the traverse with the manipulator arm or the multiple manipulator arms can form the first joint.
  • the plurality of printing form manipulators are passive floating or actively movable transversely to the plane of manipulation, they are preferably individual, which results from the formation of a corresponding Articulated connection, ie a translational joint, can be achieved individually between the traverse and the manipulator heads.
  • FIG. 1 shows a printing unit in a view.
  • the printing unit is formed as a ten-cylinder unit. It comprises two central steel cylinders 1, four blanket cylinders 2, four printing form cylinder 3 and the printing forme cylinders 3 associated with inking and dampening.
  • the cylinders 1 to 3 form an H-bridge in the view shown.
  • the two central cylinders 1 are each associated with two blanket cylinders 2, which each form a printing gap for a web to be printed with the respective central cylinder 1.
  • the blanket cylinders 2 each one of the plate cylinder 3 is assigned.
  • the arrangement is symmetrical with respect to a vertical extending between the two central cylinders 1.
  • the cylinders 1 to 3 and also the rollers of the associated inking and dampening units are rotatably mounted in a frame 5.
  • a printing forme manipulator 10 is provided on both sides of the printing unit 1-3. Of the two the printing unit 1-3 associated printing form manipulators only one is shown. A manipulator arm of the printing form manipulator 10 is designated by 12. On the opposite side is a mirror image of the vertical, a similar printing form manipulator 10 is provided. Overall, in this way the printing unit 1-3 assigned two printing form manipulators 10, depending on a printing form manipulator 10 for the two approximately vertically stacked printing form cylinder 3. If in a printing tower of the printing machine two or even three of the printing units 1-3 are arranged one above the other, is Preferably assigned to each of the printing units 1-3 on both sides depending such a printing form manipulator 10.
  • each of the printing units 1-3 preferably has one printing unit 1-3, ie. H. whose printing forme cylinders 3, is assigned and each of the printing units 1-3 has two of the printing form manipulators 10.
  • two printing form manipulators 10 are preferably also provided per printing unit, one of which has two printing form cylinders accessible from one side and the other the third printing form cylinder serve.
  • the printing form manipulator 10 is vertically movable along a guide 7.
  • the guide 7 is firmly connected to the frame 5. It is made as a straight guide rail.
  • a printing form magazine 6 is disposed at a lower end of the guide 7.
  • the magazine 6 is associated with the printing unit 1-3, d. H. in the magazine 6, only the printing forms of the printing unit 1-3 are added, on the one hand, the new printing forms to be hooked and, on the other, the unhooked, previously used printing forms.
  • the printing form manipulator 10 assumes along the guide 7 a position from which he operate the lower of the two associated printing form cylinder 3 with a printing plate 4 can.
  • the printing form manipulator 10 is further indicated by dashed lines in further vertical positions.
  • a lower position close to the magazine 6, the printing form manipulator is designated by 10 '.
  • the printing form manipulator In this position, he can remove the magazine 6 a new printing form or store a previously used in the magazine 6.
  • the printing form manipulator In an upper vertical position, the printing form manipulator is designated by 10 "and in an intermediate position by 10"'. In the upper vertical position, the printing form manipulator 10 "operates the upper of the two associated printing form cylinders 3.
  • the printing form manipulator 10 '" is between the operating position for the lower printing form cylinder 3 and the upper vertical position, ie the operating position for the upper printing form cylinder 3.
  • This intermediate position ie on the way between the operating positions and generally during other vertical movements of the printing form manipulator 10 is at least substantially pivoted out of the range of the printing unit 1-3, so that it formed with a held printing form without regard to the printing unit 1-3 Obstacles, especially the inking and dampening unit of the lower plate cylinder 3, along the guide 7 can be moved.
  • FIG. 2 shows the printing form manipulator 10 detached from the printing unit 1-3.
  • the printing form manipulator 10 comprises a joint element 11, the manipulator arm 12 projecting from the joint element 11, a pivot joint 11, 12 formed between the joint element 11 and the manipulator arm 12, a manipulator head 15 and a two-joint link which connects the manipulator head 15 to the manipulator arm 12.
  • the hinge element 11 together with the guide 7 forms a translation hinge 7, 11 with the vertical translation axis T 1 .
  • the printing form manipulator 10 as a whole is vertically movable relative to the printing unit 1-3.
  • the joint member 11 further forms with the manipulator arm 12, the pivot joint 11, 12 with the axis of rotation R 1 .
  • the manipulator arm 12 and thus together the manipulator head 15 are pivotable in the rotary joint 11, 12 about the axis of rotation R 1 .
  • the manipulator head 15 is connected via a joint element 13 with the manipulator arm 12.
  • the joint element 13 forms with the manipulator 12 another translation joint 12, 13 and with the manipulator head 15 a further pivot joint 13, 15.
  • the advantageously rigid in itself hinge member 13 is thus a two of the above-mentioned two-joint joint forming joints 12, 13 and 13, 15 common hinge element.
  • One of joint element 13 and manipulator head 15 forms the bearing shell and the other the bearing journal of the rotary joint 13, 15.
  • the joint element 13 and thus the manipulator head 15 along the translation axis T 2 relative to the manipulator arm 12 linearly and movable.
  • rotary joint 13 15 of the manipulator head 15 is pivotable relative to the hinge member 13 and thus relative to the manipulator arm 12 about a rotation axis R 2 .
  • the two axes of rotation R 1 and R 2 are parallel to each other.
  • the translation axis T 2 intersects the two axes of rotation R 1 and R 2 .
  • the swivel joints 11, 12 and 13, 15 are referred to as swivel joints in the following as swivel joints and their axes of rotation R 1 and R 2 because of the swivel movements that can be performed in them.
  • the manipulator arm 12 form a guide curve and the joint element 13 a guided engagement member of the translational joint 12, 13.
  • the conditions could be reversed in the joint 12, 13, or it could also form a guide curve for each other, both hinge elements 12 and 13, which in particular can be straight as in the exemplary embodiment.
  • the manipulator arm 12 is preferably straight, as in the embodiment, but may in principle also be bent, with the translational movement of the manipulator head 15 following the arcuate course of such a manipulator arm or, as in the exemplary embodiment, radially to the pivot axis R 1 or parallel to a radial on the pivot axis R 1 can point.
  • Other types of relative translational movement of the manipulator head 15 are conceivable, as long as for the change in the distance between the two pivot axes R 1 and R 2, an additional pivotal movement does not have to be performed, which would require additional pivoting space.
  • the manipulator head 15 assumes a foremost position relative to the manipulator arm 12.
  • the translational displacement is preferably at least so long in the direction of the pivot axis R 1 that the manipulator head 15 can be retracted on the adjustment path into a position in which a held by the manipulator head 15 Printing form 4 with its front end no longer protrudes beyond a front end of the manipulator arm 12. If the manipulator head 15 assumes such a retracted position, the length of the manipulator arm 12 alone, as measured on its pivot axis R 1 , alone determines the working space within the printing unit 1-3 claimed by the printing form manipulator 10.
  • the manipulator head 15 between the printing plate 4 and the pivot axis R 2 is measured flat and further in the pivot joint 13, 15 can be pivoted to a rotational angle position in which the held printing form 4 at least substantially parallel to the manipulator arm 12 extends.
  • the length L of a pivot arm, which forms the manipulator head 15 between the pivot axis R 2 and the upper side facing the printing plate 4 should be as small as possible.
  • the Schwenkarmitz L can be made to "zero", so that the pivot joint 13, 15 would reduce to a pure swivel joint.
  • the printing form 4 can pivot or rotate about the rotation axis R 2 which is pure in such an embodiment, and is not hindered by the manipulator arm 12.
  • the manipulator head 15 for the printing forme 4 forms a swivel arm with the length L which, with a simple design of the articulated connection, in each position of the manipulator head 15 along the translational displacement path Pivoting the printing form 4 guaranteed. This compromise is met by the fact that the pivot joint 13, 15 is arranged much closer to the front end than the rear end of the manipulator head 15.
  • the manipulator head 15 comprises a carrier structure 17, which is flat relative to the printing form 4, and a plurality of holding members 18 and 19, which protrude from the carrier structure 17 on a side remote from the manipulator arm 12.
  • the holding members 18 and 19 are each formed as a sucker, for example, as elastically resilient cups, which are pressed for receiving a located in the magazine 6 printing form 4 against the later outer side of the printing plate 4 and festsaugen due to their elasticity to the printing plate 4. To release the printing plate 4, the holding members 18 and 19 thus formed are pressurized.
  • FIG. 3 shows the manipulator head 15 with the printing form 4 held thereon in a perspective view.
  • the support structure 17 consists of 3 rigidly connected, slim support arms.
  • a long support arm 17 protrudes from a common connection region to the rear, and the two remaining, shorter support arms project obliquely forward from the connection region, so that a Y-shape is formed in a plan view.
  • At the ends of the support arms each one of the holding members 18 and 19 is arranged.
  • the manipulator head 15 has three holding members 18 and 19, of which the rear are designated by 18 and the two front by 19.
  • the connecting structure 17 and the holding members 18 and 19 are mirror-symmetrical to the translation axis T 2 which is parallel to the rear support arm.
  • connection region of the support arms protrudes away from the held pressure mold 4 away a web 16 rigidly (Fig. 2), on which the bearing shell or the bearing journal of the pivot joint 13, 15 is formed.
  • a plurality of manipulator heads 15 are arranged side by side along a pointing in the direction of the axes of rotation of the cylinder 1-3 Traverse and pivotally mounted together about the pivot axis R 1 .
  • the juxtaposed manipulator heads 15 thus do not individually have a translational joint 7, 11 and a pivot joint 11, 12. Rather, two manipulator arms 12, which are arranged at the two ends of the traverse, these joints with the guide 7.
  • the number of manipulator heads 5 mounted next to one another on a traverse or of the optionally individually mounted printing form manipulators 10 corresponds to the number of pressure forms 4 which can be tensioned on the printing form cylinders 3 side by side.
  • FIG. 4 shows, in a perspective view, four manipulator heads 15, which are mounted next to one another on a common traverse.
  • the printing press is a four-page-wide rotary printing press.
  • the Manipulator heads 15 can only be moved together along the translation axis T 1 and pivot about the pivot axis R 1 only together.
  • the manipulator heads 15, the traverse and the manipulator arms 12 which are each connected to the guide 7 in this further two-jointed connection 7, 11, 12 form a printing form manipulator 10 for a printing form cylinder 3 having a plurality of printing plates 4 arranged side by side in the exemplary embodiment is connected to the manipulator arms 12 each in the two-link connection 12, 13, 15.
  • the manipulator heads 15 are each mounted on the cross member individually transversely to the manipulation plane, ie parallel to the axes of rotation of the cylinder 1-3 against elastic restoring forces, floating.
  • the common axis of movement of the floating bearing is denoted by Q.
  • the floating bearing ensures that the printing plates 4 are mounted in register with respect to the page register.
  • the printing form manipulator 10 has in a manipulation plane, which is expediently a vertical plane, but need not be unavoidable, two degrees of freedom of rotation, namely about the two pivot axes R 1 and R 2 , and two degrees of freedom of translation, namely along the frame 7 from pivoted-manipulator 12 non-parallel translation axes T 1 and T 2 , on. It is in the installed state thus a four-axis or four-joint manipulator, in the case of transversal mobility, a five-axis or five-joint manipulator.
  • FIGS. 5 and 6 show a further developed manipulator head 20 with which the printing form 4 held by the holding members 18 and 19 can be uniaxially arched.
  • a distance d between the holding members 18 and 19 is variable in the manipulation plane. If the distance d between the holding members 18 and 19 is reduced in the printing form 4 held by the holding members 18 and 19, the printing form 4 bulges with respect to the circumferential direction of the cylinders 1 to 3. The distance d is between the centers of the holding members 18 and 19 measured, wherein the holding members 18 and 19 projected parallel to the manipulation plane at right angles and the holding members 19 are arranged in alignment in the projection.
  • the two front holding members 19 are movable relative to the pivot joint 13, 15 ( Figure 2).
  • the relative mobility in the basic version rigid support structure 17 is divided into two parts in a rear portion 21 and a front portion 22.
  • the front portion 22 carries the front holding members 19 and is V-shaped as in the basic version.
  • the rear arm of the basic version is divided.
  • the rear, rod-shaped portion 21 carries the rear holding member 18.
  • the portion 21 is relative to the pivot joint of the manipulator head 20 along the translation axis T 3 back and forth linearly movable.
  • the two sections 21 and 22 directly form the two joint elements of this further translational joint whose translation axis T 3 is parallel to the held, not yet warped printing form 4.
  • the web 16 ( Figure 2) corresponds to that of the basic version and protrudes rigidly from the front portion 22 from.
  • the manipulator head 20 is equipped with a discharge device 24.
  • the discharge device 24 protrudes between the rear holding member 18 and the front holding members 19 of the support structure 21, 22 on one of the printing plate 4 side facing away and on the printing forme 4.
  • the discharge device 24 may be formed, for example, as a simple cam or transversely to the translation axis T 3 over a larger part of the printing plate width extended rib.
  • the discharge device is formed as a rotational body and rotatably mounted on the support structure 21, 22 about a perpendicular to the translation axis T 3 and the manipulation plane facing axis of rotation.
  • the rotary body may be a single narrow roller or a roller extending over a larger part of the printing plate width.
  • the discharge device 24 may also be formed by a plurality of rollers, each rotatably mounted individually rotatable along a common axis of rotation or about parallel spaced axes of rotation and are arranged transversely to the translation axis T 3 spaced from each other.
  • the discharge device 24 protrudes from the support structure 21, 22 ideally so far that it just touches the printing form 4, when the printing form 4 is held by the holding members 18 and 19.
  • a clear gap should be as small as possible, so that it can be ensured that on the one hand by the holding members 18th and 19, the required holding force exerted and on the other hand, a buckling of the printing plate 4 between the holding members 18 and 19 of the support structure 21, 22 away can be ensured when the holding members 18 and 19 are moved towards each other.
  • the rear holding member 18 is connected to the portion 21 in a pivot joint 23.
  • the axis of rotation of the rotary joint 23 is perpendicular to the manipulation plane.
  • FIG. 6 shows the manipulator head 20 after the holding members 18 and 19 have moved toward one another along the translation axis T 3 and the printing forme 4 has thereby been arched away from the carrier structure 21, 22 between the distance-variable holding members 18 and 19.
  • the hinge 23 serves to compensate for the curvature of the printing plate 4.
  • the articulated connection ensures that the retainer 18 despite the curvature of the printing plate 4 is still contacted over the entire surface and at least substantially the same holding force, ie in the embodiment suction, as on the convex printing form 4 exercises.
  • the joint 23 prevents the warping, a tensile force between the retainer 18 and the printing plate 4 may occur, which could cause a release of the printing plate 4.
  • FIGS. 7 to 9 show the use of the printing form manipulator 10, either with the manipulator head 15 or the manipulator head 20, on printing units in H-bridge construction shown by way of example.
  • FIG. 7 again shows the ten-cylinder printing unit 1-3 of FIG. 1.
  • FIG. 8 shows a rubber / rubber printing unit 2, 3
  • FIG. 9 shows a satellite printing unit 1-3 with only a single central cylinder 1, a so-called nine-cylinder unit.
  • For the respective right side of the printing units 1-3 and 2, 3 are shown in the two operating positions of the right printing form manipulator not shown held by this printing forms 4 by dashed lines.
  • a fully automatic change of printing plates 4 is as follows:
  • Printing plates 4 are manually inserted by an operator into the magazine 6 arranged on an operating plane of the printing unit 1-3 or 2, 3.
  • the magazine 6 is formed as a multiple cassette.
  • For each print zone of the plate cylinder 3 are in the magazine 6 three memory locations available, namely two places per printing zone on which the two new printing plates 4 are loaded for the two to be operated printing forme cylinder 3, and an empty space.
  • the new printing plates 4 are pre-positioned in their places in register.
  • the new printing plates 4 are checked by means of a preferably fully automatic monitoring device, for example by means of a bar code reader.
  • the magazine 6 can be moved to a maintenance position.
  • the printing form manipulator 10 assumes the fully automatic feeding, mounting and unmounting and the clamping and unclamping of the printing plates 4 of the printing forme cylinders 3.
  • a printing forme manipulator 10 for the upper and lower Printing forme cylinder 3 of each printing unit provided.
  • a separate printing form manipulator 10 is provided for each of the printing form cylinders 3 of the printing press.
  • such a design is cost-driving, and the changeover times can only be reduced slightly, since the superposed Druckformmanipulatoren 10 can interfere with each other.
  • manipulator heads 15 are provided next to one another along a traverse in a number corresponding to the number of printing zones per printing forme cylinder 3. With such a printing form manipulator 10 printing forms 4 can thus be changed simultaneously in all printing zones of the respective printing form cylinder 3.
  • the old printing plates 4 of one of the two associated plate cylinders 3 are first dismantled, namely unclamped and unhooked.
  • the respective printing form cylinder 3 is rotated in a corresponding rotational angular position.
  • the manipulator heads 15 or 20 of the printing form manipulator move into the printing form cylinder 3 associated removal position, namely the operating position described above.
  • the cylinder drive rotates the relevant printing form cylinder 3 in the case of two over the circumference of one another clamped printing plates 4 by half a turn back and thereby unwinds the relaxed printing plates 4 from.
  • the manipulator heads 15 take over one of the unwound printing forms 4 by means of their holding members 18 and 19, move the printing forms 4 out of the inner area of the printing unit, drive to the magazine 6 and deposit the printing forms 4 in the respective empty storage space of the magazine 6.
  • the new printing plates 4 For the assembly of the new printing plates 4 remove the manipulator heads 15 by means of their holding members 18 and 19 to be hung new printing plates 4 the corresponding memory locations of the magazine 6. Previously, the new printing plates 4 were checked by the monitoring device. Subsequently, the printing form manipulator 10 moves back into the operating position assigned to the respective printing form cylinder 3, the previous removal position. The printing form cylinder 3 is rotated in a suitable for hanging rotational position, and the hanging on the manipulator heads 15 or 20 printing plates 4 are moved by appropriate movements in the joints of the printing form manipulator 10 to the plate cylinder 3, mounted in register with their leading edges register and on the plate cylinder. 3 curious; excited.
  • the discharge device 24 can serve for clamping, if it is formed as a body of revolution or of bodies of revolution. To accomplish this task by rolling on the respective printing form 4 at To be able to satisfy clamping, the discharge device 24 per manipulator head 20 can be moved beyond the respective holding members 18 and 19 into a further projecting position and can be fixed in this position.
  • the printing form manipulator 10 can remain in the occupied operating position and remove these printing plates 4 as described and replace them with new ones. Otherwise, it moves to the operating position for the other of the two associated printing forme cylinder 3, in order to change the respective printing plates 4 also in the manner described there in accordance with a predetermined change plan by means of control.
  • the traverse is moved out with the manipulator heads 15 or 20 from the interior of the printing unit and the printing form manipulator 10 moved to a rest position in which he does not obstruct visual checks, any operating and maintenance on the printing unit.

Landscapes

  • Supply, Installation And Extraction Of Printed Sheets Or Plates (AREA)
  • Ink Jet (AREA)
  • Prostheses (AREA)
  • Impact Printers (AREA)
EP05020159A 2004-10-26 2005-09-15 Manipulateur de plaques d'impression Revoked EP1652667B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE200410052021 DE102004052021A1 (de) 2004-10-26 2004-10-26 Druckformmanipulator
DE200410052020 DE102004052020B8 (de) 2004-10-26 2004-10-26 Druckformmanipulator

Publications (3)

Publication Number Publication Date
EP1652667A2 true EP1652667A2 (fr) 2006-05-03
EP1652667A3 EP1652667A3 (fr) 2006-07-12
EP1652667B1 EP1652667B1 (fr) 2010-07-21

Family

ID=35760715

Family Applications (1)

Application Number Title Priority Date Filing Date
EP05020159A Revoked EP1652667B1 (fr) 2004-10-26 2005-09-15 Manipulateur de plaques d'impression

Country Status (3)

Country Link
EP (1) EP1652667B1 (fr)
AT (1) ATE474719T1 (fr)
DE (1) DE502005009939D1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2093060A1 (fr) * 2008-02-22 2009-08-26 manroland AG Dispositif de manipulation d'une presse
CN116690150A (zh) * 2023-07-26 2023-09-05 河北万杰机械科技股份有限公司 一种能够实现自动装卸ps版的机械手结构

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4727807A (en) 1985-09-30 1988-03-01 Tokyo Kikai Seisakusho Apparatus for automatically mounting and removing printing plates in rotary printing press
EP0431364A2 (fr) 1989-12-07 1991-06-12 MAN Roland Druckmaschinen AG Dispositif de manipulation
DE19934271A1 (de) 1998-11-13 2000-05-25 Heidelberger Druckmasch Ag Verschwenkbare Druckformwechseleinrichtung
DE10010056A1 (de) 1999-03-31 2000-10-05 Heidelberger Druckmasch Ag Druckplattenwechsler
DE102004023434A1 (de) 2004-05-10 2005-12-08 Maschinenfabrik Wifag Rotationsdruckmaschine mit Saugvorrichtung, Saugvorrichtung und Verfahren zum Wechseln einer Druckform

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1994023951A1 (fr) * 1993-04-16 1994-10-27 Nissha Printing Co., Ltd. Appareil et procede de formation de films minces

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4727807A (en) 1985-09-30 1988-03-01 Tokyo Kikai Seisakusho Apparatus for automatically mounting and removing printing plates in rotary printing press
EP0431364A2 (fr) 1989-12-07 1991-06-12 MAN Roland Druckmaschinen AG Dispositif de manipulation
DE19934271A1 (de) 1998-11-13 2000-05-25 Heidelberger Druckmasch Ag Verschwenkbare Druckformwechseleinrichtung
DE10010056A1 (de) 1999-03-31 2000-10-05 Heidelberger Druckmasch Ag Druckplattenwechsler
DE102004023434A1 (de) 2004-05-10 2005-12-08 Maschinenfabrik Wifag Rotationsdruckmaschine mit Saugvorrichtung, Saugvorrichtung und Verfahren zum Wechseln einer Druckform

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2093060A1 (fr) * 2008-02-22 2009-08-26 manroland AG Dispositif de manipulation d'une presse
CN116690150A (zh) * 2023-07-26 2023-09-05 河北万杰机械科技股份有限公司 一种能够实现自动装卸ps版的机械手结构
CN116690150B (zh) * 2023-07-26 2023-12-19 河北万杰机械科技股份有限公司 一种能够实现自动装卸ps版的机械手结构

Also Published As

Publication number Publication date
EP1652667A3 (fr) 2006-07-12
ATE474719T1 (de) 2010-08-15
EP1652667B1 (fr) 2010-07-21
DE502005009939D1 (de) 2010-09-02

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