EP2206668A1 - Dispositif et procédé pour le transfert d'objets plats et souples - Google Patents

Dispositif et procédé pour le transfert d'objets plats et souples Download PDF

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Publication number
EP2206668A1
EP2206668A1 EP10405001A EP10405001A EP2206668A1 EP 2206668 A1 EP2206668 A1 EP 2206668A1 EP 10405001 A EP10405001 A EP 10405001A EP 10405001 A EP10405001 A EP 10405001A EP 2206668 A1 EP2206668 A1 EP 2206668A1
Authority
EP
European Patent Office
Prior art keywords
gripper
grippers
transfer area
distances
objects
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
EP10405001A
Other languages
German (de)
English (en)
Other versions
EP2206668B1 (fr
Inventor
Alex Keller
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.)
Ferag AG
Original Assignee
Ferag 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
Application filed by Ferag AG filed Critical Ferag AG
Publication of EP2206668A1 publication Critical patent/EP2206668A1/fr
Application granted granted Critical
Publication of EP2206668B1 publication Critical patent/EP2206668B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • B65H29/00—Delivering or advancing articles from machines; Advancing articles to or into piles
    • B65H29/003—Delivering or advancing articles from machines; Advancing articles to or into piles by grippers
    • 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
    • B65H2301/30—Orientation, displacement, position of the handled material
    • B65H2301/31—Features of transport path
    • 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
    • B65H2301/30—Orientation, displacement, position of the handled material
    • B65H2301/32—Orientation of handled material
    • B65H2301/323—Hanging
    • 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
    • B65H2301/44—Moving, forwarding, guiding material
    • B65H2301/447—Moving, forwarding, guiding material transferring material between transport devices
    • B65H2301/4471—Grippers, e.g. moved in paths enclosing an area
    • B65H2301/44712—Grippers, e.g. moved in paths enclosing an area carried by chains or bands
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2405/00—Parts for holding the handled material
    • B65H2405/50—Gripping means
    • B65H2405/55—Rail guided gripping means running in closed loop, e.g. without permanent interconnecting means
    • B65H2405/552—Rail guided gripping means running in closed loop, e.g. without permanent interconnecting means with permanent interconnection and determined spacing between the grippers

Definitions

  • the invention is in the field of conveyor technology and relates to an apparatus and a method for the transfer of flexible flat objects, in particular printed products, between two conveyors.
  • the EP-A 1834911 describes a further transfer device in which individual objects are transferred from first grippers to second grippers.
  • the second grippers are each arranged below the first gripper.
  • the first grippers are opened so that the objects, due to gravity, slide into the co-moving open second grippers, which are then closed.
  • the mutual spacing of the grippers within the first and second gripper conveyor is different; usually the distance is the first gripper less than the distance of the second gripper.
  • the speeds of the two gripper conveyors are therefore adapted to each other adapted so that the first and second gripper are synchronized in the transfer area and seen in the conveying direction perform no movements relative to each other so as not to interfere with the transfer process by shifts in the conveying direction.
  • the distance of the first from the second gripper conveyor track is constant in the transfer area.
  • the objects released by the first gripper are guided by means of a support device in the form of two laterally engaging spirals, which define a supporting surface co-moving with the receiving second gripper, supported by gravity in the second gripper. During the transfer they are temporarily not held.
  • the first gripper is opened before the synchronously moving second gripper is closed.
  • the invention has for its object to further improve known devices and methods for transferring flexible, flat objects from a first gripper conveyor to a second gripper conveyor, in particular to hand over and / or assemble the items in a reliable and easily controlled way.
  • the device comprises a first gripper conveyor with first grippers moved along a first gripper conveyor track for essentially hanging transport of the articles in a conveying direction.
  • first object edges are detected by the first grippers.
  • the first grippers are mounted on a continuously driven first drive member and are moved in operation at a substantially constant speed.
  • the objects are promoted individually or in groups; In the case of group-wise conveyance, the first object edges may lie on one another or be offset from one another within the gripper.
  • the first and second grippers are each mounted on a continuously driven first or second drive member, for example a chain, wherein the respective conveyor track is determined by means of appropriate guides.
  • at least one actuating device for opening and closing the gripper is present, for example in the form of control blocks or other elements that trigger the opening or closing process.
  • each conveyor has its own actuator.
  • the conveyor tracks and the actuating device are designed and arranged such that in a transfer area a transfer of the Objects from the first grippers to the second grippers can take place.
  • the distances between the first grippers with each other before the transfer area are smaller than the distances of the second gripper there. According to the invention, the distances of the first and / or the second grippers are variable along their conveying path.
  • the distances of the first gripper are reduced in the transfer area with respect to their distances before the transfer area.
  • the distances between the second grippers in the transfer area are increased in relation to their distances before the transfer area.
  • An existing difference in the distances of the first and second grippers even before the transfer area is therefore further increased.
  • the web speeds of the first and second grippers, respectively are changed in the transfer area starting from respectively constant basic drive speeds (for example the speed of the drive member) so that the second grippers can catch up with respect to the first grippers.
  • the first grippers are delayed for a short time and / or the second grippers are accelerated.
  • the following steps are present in the method: conveying the objects with the first gripper conveyor essentially hanging in the conveying direction, the first grippers holding the articles on a first edge of the article; Further conveying the articles through the second gripper conveyor, the second grippers holding a second article edge opposite the first article edge; Transferring the objects from the first grippers to the second grippers in the transfer area by opening the first grippers and closing the second grippers; Moving the first and second grippers such that the distances of successive first grippers before the transfer area are smaller than the distances of successive second grippers before the transfer area.
  • the distances along the respective gripper conveying path of successive first and / or second grippers are changed in such a way that the distances of the first grippers in the transfer area are reduced in relation to their distances before the transfer area and / or that the distances of the grippers second gripper in the transfer area with respect to their distances before the transfer area are increased.
  • the conveying speeds of the first and second grippers are selected such that each first gripper is assigned a second gripper, which is largely, but not exactly, synchronously moved in the transfer region with the first gripper.
  • the second gripper thus catches up with respect to the first gripper so that the distance of the first and second grippers relative to one another, in particular along the main surface of the object, is reduced.
  • the object is enclosed on both edges by grippers and the second object edge is gently positioned in the gripper jaw of the second gripper.
  • the article Before the second gripper is closed, the article is preferably supported on the trailing gripper leg of a leading second gripper and slides along its outer surface into the open gripper jaw.
  • the trailing gripper jaw is extended in particular with respect to the leading gripper jaw and forms a flat support. Additional, externally engaging support means can thus be dispensed with. Furthermore, it is possible to realize the transfer area to save space, especially if the objects during the transfer already scale-like, i. are arranged with a certain inclination with respect to the vertical, and the first gripper in the conveying direction preceded by the conveying direction gripper mouth precedes the associated second gripper.
  • the change in distance is preferably realized by the first and / or second gripper are arranged on the first and second drive member such that the distance between successive gripper by curvature of the gripper conveyor track is variable. Become a concave curvature The distances are locally reduced and increased by a convex curvature.
  • the grippers can be connected for example via a lever to the drive member, wherein the distances between the articulation points of the lever on the drive member are constant.
  • the distance between the grippers is, for example, the distance between a defined point on the gripper and the same point on an adjacent gripper. These reference points can be, for example, the clamping area, the axis of the joint or the bottom of the gripper.
  • the change in distance can be achieved in another variant by pivoting the gripper relative to its drive member.
  • the first or second drive member is for example a guided in a channel chain.
  • the articulation points on which the grippers are attached to the drive member preferably have a constant distance from each other.
  • the grippers are, e.g. via a lever or other spacer, arranged at a distance from the articulation points, so that the reference points on the gripper itself have a defined distance from the articulation points mentioned.
  • a gripper conveyor track the path of the drive member determined by the guide elements will be referred to below. It can be different from the path of the reference points on the gripper. The latter is determined by the shape of the gripper conveyor track and / or by an optionally present pivotability of the lever or spacers relative to the drive member.
  • the reference points such as the hinge axis
  • the distance of the hinge axis from the articulation point is preferably at least 0.1 times, more preferably at least 0.2 times, and more preferably at least 0.5 times the distance between the articulation points of adjacent grippers.
  • Transfer area is understood to mean the area in which the transfer process of the objects can take place from the first grippers to the second grippers, in particular because the grippers have approached each other so far that a controlled transfer is possible.
  • the object can preferably be influenced both by the first grippers and by the second grippers, for example it already touches a second gripper while it is still held by the first gripper. For example, a controlled handover in which the items are gripped at any time takes place by first opening the first grippers after the second grippers have been closed.
  • the conveying paths of the first and second grippers are approximately parallel to each other in the transfer area except for the concave / convex recesses for changing the distance.
  • the distance between the conveyor tracks to each other is preferably less than a product length, so that the products in the plan view from above overlapping each other, but still held individually by grippers are promoted in a relatively dense and thus space-saving formation through the transfer area.
  • the distance between the conveyor tracks is preferably variable for adaptation to different formats.
  • the second grippers may already contain other items as they enter the transfer area. They are then briefly opened in the transfer area for receiving the items brought by the first grippers. In this case, the gripper mouths of the second gripper essentially upwards, so that the objects do not fall out.
  • the transfer device can thus be used to pre-collect small groups of items.
  • a stabilization device is preferably located in front of the transfer area, which stabilizes the free edges of the objects held by the first grippers and releases them at a well-defined location at the entrance of the transfer area.
  • the stabilization device can advantageously also act on the further objects in the second grippers in the "pre-picking" mode and position these in such a way that they enter the transfer area in a defined position.
  • the objects held by the first and second grippers are meshed or zippered in the "pre-picking" mode as they pass through the transfer region.
  • the transfer device 1 comprises a first gripper conveyor 10 with first grippers 12, which are attached to an in Fig. 3 sketched drive member 16, here a chain, are mounted and moved in a conveying direction F.
  • a guide member 17 here a guide rail or a channel
  • the first gripper 12 are here conventional gripper with two gripping jaws 13, 14 of approximately equal length each, which are pivotable about a hinge axis 18 and occupy an open position and a clamping position can.
  • the first grippers 12 are opened by a first actuating device 40, which is indicated here only schematically and may be formed, for example, as a control link, at an opening point S1.
  • the grippers 12 In a conventional manner controls, eg tax rolls, on.
  • the first gripper conveyor track U1 extends obliquely upward relative to the direction G of gravity.
  • the first grippers 12 convey articles 2 individually or in pairs (not shown) from an upstream process. In this case, the objects are each held at their first edge 3, and the opposite second edges 4 have according to gravity down.
  • the transfer device 1 further comprises a second gripper conveyor 20 with second grippers 22, which are mounted on a in Fig. 3 sketched drive member 26, here a chain, are mounted and moved in a conveying direction F.
  • a guide member 27 here a guide rail or a channel
  • the second grippers 22 also have two gripper jaws 23, 24, which are pivotable about a hinge axis 28 and whose position relative to each other by means of a second actuator 50, for example a control link, can be influenced.
  • the actuating device 50 opens the second grippers at an opening point S2 whose position can be variable and closes them at a closing point S3.
  • the trailing gripper jaw 23 is extended relative to the leading gripper jaw 24. It makes it possible to stab between two objects 2, which are held by the first gripper 12, and to divert them into different (adjacent) second grippers 22.
  • the extended leg 23 may act as a support surface, along which an object 2 slides into the second gripper 22. Also in the delivery of the items 2 from the first grippers 12, the articles 2 are therefore held supported by the extended leg 23 or a product already in contact therewith.
  • the second gripper conveyor track U2 here comprises a deflection by 180 ° and then a rising in relation to gravity up portion in which it is located directly below the first gripper conveyor track U 1.
  • the first and second grippers 12, 22 are each mounted on the drive element 16, 26 via levers 15, 25 with a length 11 or 12, respectively.
  • the articulation points 19, 29 of the levers 15, 25 on the drive member 16, 26 are at constant first and second distances b1, b2 from each other. This results in dependence on the curvature of the web U1, U2 a variable distance d1, d1 'and d2, d2' of the first and second grippers 12, 22 with each other, measured at the reference points, e.g. here between the joint axes 18, 28 adjacent gripper.
  • the first conveyor track U1 has a section U1 'with a concave curvature.
  • the distances d1 'of the first gripper 12 relative to the corresponding distances d1 in straight track sections at a constant distance b1 are reduced.
  • the length 11 of the lever 15 is preferably of the same order of magnitude as the distance b1 of the articulation points 19 of the grippers 12 on their drive element.
  • 11 can also be greater than b1 (11 / b1> 1).
  • the levers 15, 25 can also be arranged pivotably on the drive member 16, 26, wherein the pivot position can be controlled by additional control elements. As a result, a change in the distance of the grippers 12, 22 can also be achieved.
  • a stabilizing device 30 is arranged below the first conveyor track U1.
  • This consists here of a stationary guide 32, for example a curved planar element. It has two surfaces 33, 34, one of which follows the course of the second conveyor track U2 in the region of its deflection, that is to say describes approximately a 180 ° arc segment in the plan view of the plane of the drawing.
  • the outer surface 33 of the guide 32 facing the first gripper conveyor acts as a support and guide surface for the objects held by the first grippers 12 prior to transfer.
  • the inner surface 34 facing the second gripper conveyor may serve to support and position any further products 2 'already held by the second grippers 22.
  • the conveyor paths U1, U2 of the two gripper conveyors 10, 20 approach one another in an area, which is referred to below as the transfer area T, so that an object 2 held by one of the grippers 12, 22 can be influenced by the other gripper, e.g. rests on this. In this way, a controlled transfer of the objects 2 can take place.
  • the conveyor tracks U1, U2 converge toward one another at the entrance E of the transfer area T with decreasing distance and then preferably run essentially parallel to one another.
  • the transfer area T corresponds approximately to the overlap of the rising sections of the first or second conveyor track U1, U2 up to the closing point S3 of the second gripper 22.
  • the input E of the transfer area is, for example, the point at which the stabilization device 30 ends.
  • the gripper conveyors can be part of a higher-level conveyor system.
  • the conveying direction F of both gripper conveyors 10, 20 is directed obliquely upwards in the transfer region T.
  • This relative movement for inserting the second edges 4 into a corresponding second gripper 22 is achieved as follows:
  • the first and second grippers 12, 22 are moved at synchronized velocities substantially synchronously through the transfer region T. Since the distances b1 of the first gripper 12 (or its articulation points on the drive member) are smaller than the corresponding distances b2 of the second gripper 22, the second gripper conveyor 20 is operated at a correspondingly higher speed.
  • the web speed of the first gripper 12 is reduced relative to the basic speed of the drive member 16.
  • the second grippers 22 pick up accordingly with respect to the first grippers 12.
  • FIG. 1 shows that the second edge 4 in the course of the transfer region T slides deeper into the gripper jaw of the second gripper 2, although the distance of the two conveyor paths U1, U2 is partially increased even slightly due to the concave bulge.
  • the conveyor tracks U1, U2 are shaped and the grippers 12, 22 so controlled, for example, in their pivotal position that the gripper mouths of two associated first and second gripper 12, 22 at least in the first portion of the transfer area (approximately to the end of the concave Section U1 ') are directed substantially in the same direction but face each other.
  • the second gripper 22 can then be closed by the actuator 50 at the closing point S3. At substantially the same time, the first gripper 12 is opened by the actuator 40 at the opening position S1. As a result, a particularly controlled transfer is achieved.
  • the extended trailing gripper jaws 23 of the second gripper 22 are also used after the transfer as a support surface for the objects 2, which are then oriented in advance and arranged in a kind of scale flow.
  • the second grippers 22 act here as collective compartments.
  • the objects 2 to be transferred are aligned with the already held objects 2 'at the base of the gripper 22. After closing the second gripper 22, the objects 2, 2 'further conveyed in pairs and further processed.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Specific Conveyance Elements (AREA)
  • Feeding Of Articles By Means Other Than Belts Or Rollers (AREA)
  • Supplying Of Containers To The Packaging Station (AREA)
  • Making Paper Articles (AREA)
  • Containers And Plastic Fillers For Packaging (AREA)
  • Discharge By Other Means (AREA)
EP10405001A 2009-01-08 2010-01-04 Dispositif et procédé pour le transfert d'objets plats et souples Not-in-force EP2206668B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CH00019/09A CH700240A1 (de) 2009-01-08 2009-01-08 Vorrichtung und verfahren zum transfer von flexiblen flachen gegenständen.

Publications (2)

Publication Number Publication Date
EP2206668A1 true EP2206668A1 (fr) 2010-07-14
EP2206668B1 EP2206668B1 (fr) 2012-03-21

Family

ID=40622280

Family Applications (1)

Application Number Title Priority Date Filing Date
EP10405001A Not-in-force EP2206668B1 (fr) 2009-01-08 2010-01-04 Dispositif et procédé pour le transfert d'objets plats et souples

Country Status (7)

Country Link
US (1) US8376348B2 (fr)
EP (1) EP2206668B1 (fr)
AT (1) ATE550278T1 (fr)
AU (1) AU2009251165B2 (fr)
CA (1) CA2688891A1 (fr)
CH (1) CH700240A1 (fr)
DK (1) DK2206668T3 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2216280B1 (fr) * 2009-02-06 2013-07-17 Ferag AG Dispositif et procédé de transfert d'objets plats flexibles

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9446612B1 (en) 2015-12-11 2016-09-20 Xerox Corporation Multiple-gripper architecture for multi-sheet-length digital printing
CH714401A1 (de) * 2017-12-04 2019-06-14 Ferag Ag Vorrichtung zum Beladen und Entladen von schienengeführten Hängefördersystemen.

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1321410B1 (fr) 2001-12-21 2006-08-30 Ferag AG Méthode et dispositif pour transporter des produits plats
EP1834911A1 (fr) 2006-03-14 2007-09-19 Müller Martini Holding AG Dispositif pour le transfert des produits imprimés

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH618398A5 (fr) * 1977-06-06 1980-07-31 Ferag Ag
DK1146000T3 (da) * 2000-04-14 2004-04-13 Ferag Ag Indretning til bearbejdning af stykgods
EP1281650B1 (fr) 2001-07-30 2005-08-17 Ferag AG Méthode et dispositif pour le regroupement et le transport ultérieur d'articles plats
US6851544B2 (en) * 2003-05-19 2005-02-08 Graphic Management Associates, Inc. Transfer device
CH700151A1 (de) * 2008-12-24 2010-06-30 Ferag Ag Vorrichtung und Verfahren zum Transfer von flexiblen flachen Gegenständen.
CH700413A1 (de) * 2009-02-06 2010-08-13 Ferag Ag Vorrichtung und Verfahren zum Transfer von flexiblen flachen Gegenständen.

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1321410B1 (fr) 2001-12-21 2006-08-30 Ferag AG Méthode et dispositif pour transporter des produits plats
EP1834911A1 (fr) 2006-03-14 2007-09-19 Müller Martini Holding AG Dispositif pour le transfert des produits imprimés

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2216280B1 (fr) * 2009-02-06 2013-07-17 Ferag AG Dispositif et procédé de transfert d'objets plats flexibles

Also Published As

Publication number Publication date
DK2206668T3 (da) 2012-06-25
US8376348B2 (en) 2013-02-19
US20100171261A1 (en) 2010-07-08
CH700240A1 (de) 2010-07-15
ATE550278T1 (de) 2012-04-15
AU2009251165B2 (en) 2015-11-12
CA2688891A1 (fr) 2010-07-08
EP2206668B1 (fr) 2012-03-21
AU2009251165A1 (en) 2010-07-22

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