EP3347210B1 - Procédé de saisie de feuillets et de dépôt commun de ces derniers et dispositif de préhension - Google Patents

Procédé de saisie de feuillets et de dépôt commun de ces derniers et dispositif de préhension Download PDF

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Publication number
EP3347210B1
EP3347210B1 EP16753626.7A EP16753626A EP3347210B1 EP 3347210 B1 EP3347210 B1 EP 3347210B1 EP 16753626 A EP16753626 A EP 16753626A EP 3347210 B1 EP3347210 B1 EP 3347210B1
Authority
EP
European Patent Office
Prior art keywords
gripping
leaves
sheet
gripping device
segments
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.)
Active
Application number
EP16753626.7A
Other languages
German (de)
English (en)
Other versions
EP3347210A1 (fr
Inventor
Olaf Dressel
Olga Kulikovska
Frank SCHIPPAN
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.)
Bundesdruckerei GmbH
Original Assignee
Bundesdruckerei GmbH
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 Bundesdruckerei GmbH filed Critical Bundesdruckerei GmbH
Publication of EP3347210A1 publication Critical patent/EP3347210A1/fr
Application granted granted Critical
Publication of EP3347210B1 publication Critical patent/EP3347210B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B42—BOOKBINDING; ALBUMS; FILES; SPECIAL PRINTED MATTER
    • B42C—BOOKBINDING
    • B42C1/00—Collating or gathering sheets combined with processes for permanently attaching together sheets or signatures or for interposing inserts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B42—BOOKBINDING; ALBUMS; FILES; SPECIAL PRINTED MATTER
    • B42D—BOOKS; BOOK COVERS; LOOSE LEAVES; PRINTED MATTER CHARACTERISED BY IDENTIFICATION OR SECURITY FEATURES; PRINTED MATTER OF SPECIAL FORMAT OR STYLE NOT OTHERWISE PROVIDED FOR; DEVICES FOR USE THEREWITH AND NOT OTHERWISE PROVIDED FOR; MOVABLE-STRIP WRITING OR READING APPARATUS
    • B42D5/00—Sheets united without binding to form pads or blocks
    • 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
    • B65H29/24—Delivering or advancing articles from machines; Advancing articles to or into piles by air blast or suction apparatus
    • B65H29/241—Suction devices
    • 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
    • B65H29/26—Delivering or advancing articles from machines; Advancing articles to or into piles by dropping the articles
    • B65H29/32—Delivering or advancing articles from machines; Advancing articles to or into piles by dropping the articles from pneumatic, e.g. suction, carriers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H39/00—Associating, collating, or gathering articles or webs
    • B65H39/10—Associating articles from a single source, to form, e.g. a writing-pad
    • B65H39/105—Associating articles from a single source, to form, e.g. a writing-pad in rotary carriers
    • 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
    • B65H2301/421—Forming a pile
    • B65H2301/4212—Forming a pile of articles substantially horizontal
    • 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
    • B65H2301/421—Forming a pile
    • B65H2301/4213—Forming a pile of a limited number of articles, e.g. buffering, forming bundles
    • 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
    • B65H2301/443—Moving, forwarding, guiding material by acting on surface of handled material
    • B65H2301/4433—Moving, forwarding, guiding material by acting on surface of handled material by means holding the material
    • B65H2301/44334—Moving, forwarding, guiding material by acting on surface of handled material by means holding the material using electrostatic forces
    • 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
    • B65H2301/50—Auxiliary process performed during handling process
    • B65H2301/51—Modifying a characteristic of handled material
    • B65H2301/511—Processing surface of handled material upon transport or guiding thereof, e.g. cleaning
    • B65H2301/5111—Printing; Marking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2404/00—Parts for transporting or guiding the handled material
    • B65H2404/60—Other elements in face contact with handled material
    • B65H2404/65—Other elements in face contact with handled material rotating around an axis parallel to face of material and perpendicular to transport direction, e.g. star wheel
    • B65H2404/655—Means for holding material on element
    • B65H2404/6551—Suction means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2406/00—Means using fluid
    • B65H2406/30—Suction means
    • B65H2406/33—Rotary suction means, e.g. roller, cylinder or drum
    • B65H2406/331—Rotary suction means, e.g. roller, cylinder or drum arranged for rotating while moving along material to be handled, e.g. rolling on material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2406/00—Means using fluid
    • B65H2406/30—Suction means
    • B65H2406/33—Rotary suction means, e.g. roller, cylinder or drum
    • B65H2406/334—Rotary suction means, e.g. roller, cylinder or drum arranged on movable frame
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2801/00—Application field
    • B65H2801/24—Post -processing devices

Definitions

  • the invention relates to a method for gripping sheets and their common storage to a stack in a stacking device and a gripping device for handling a plurality of individual sheets, in particular for carrying out the method.
  • a sheet for example a paper sheet
  • this sheet is cut into several individual sheets.
  • a first sheet is gripped with a gripper in a gripping position and moved into an unloading position to deposit this sheet in a stacking device.
  • the next sheet is removed and stored again after a movement of the gripper in the tray. This is repeated until all sheets cut from the sheet are arranged one above the other in a stack in the stacking device. Subsequently, this pile of sheets is further processed into a book block.
  • the invention has for its object to propose a method and a gripping device, which allows the optimization of process times.
  • This object is achieved by a method in which a gripping device is used with a plurality of gripping segments, so that with each gripping segment of the gripping device individually and sequentially a sheet cut from a sheet can be recorded until a majority or all of the sheets of the sheet gripped by the gripping device are then to move the gripping device in an unloading position to a stacking device in which the recorded sheets in succession in the Stacking device are stored.
  • This has the advantage that the number of traversing paths is considerably reduced, whereby the cycle time for picking up the individual sheets and then depositing them into a stack can be considerably reduced.
  • the length of time for the successive laying of the sheets in the stack does not lead to a process delay, but rather can be used to already lay a new sheet on a table and cut this again, so that this process step is done until the gripping device back in a gripping position is positioned to the table to pick up the next sheets of the succeeding sheet.
  • the gripping device picks up the cut leaves in a predefined order and places them in the stacking device in this order. This can be done further process optimization.
  • the gripping device picks up the cut leaves in a predefined order and places them in an order selected by a control.
  • the recording of the individual sheets from the table in a time-optimized sequence, so that in a sorted gripping the individual recorded sheets sorting takes place in an unloading position for storage of the individual sheets on a stack in the stacking device. This leaves more time for placing the next, to be trimmed sheet on the table and for editing.
  • each blade is gripped by a gripper segment. This results in a simple handling of the sheet, for example made of paper, which is to be securely held during a movement of the gripping device despite a resulting air flow.
  • the sheet is held in the gripping position by means of a vacuum or an electrostatic charge.
  • the gripping device can be fed to a processing station in which the free side of the sheets is processed.
  • a processing station in which the free side of the sheets is processed.
  • a sheet back side is printed. This can also be provided with a coating and / or embossed.
  • a sheet in particular made of paper or a paper-like material, is therefore cut into six or nine double pages and the gripping device is adapted to this number and preferably has six or nine gripping segments.
  • a gripping device for handling sheets which has a gripping head with a plurality of juxtaposed gripping segments, so that each of the gripping segments is provided for receiving one of the leaves and has a support surface on which the picked up Sheet is present.
  • a so-called multiple gripping device can be created by which successively several sheets, in particular all sheets cut from a sheet, can be grasped and held. First of all, within a working area determined by the format of the sheet, a successive recording of the individual sheets can take place. Subsequently, a unique trajectory to the unloading position can be satisfied, provided that the number of gripping segments on the gripping head is equal to or greater than the number of cut sheets of a sheet to the recorded sheets individually in the
  • the gripping segment in the bearing surface has holes for applying a vacuum.
  • the sheet can lie flush against the support surface and can not be lifted by an air flow during the movement.
  • the gripping segment has an electrostatically chargeable plate. This can also be achieved that a safe investment and handling of the sheet takes place without attacking with a mechanical gripper directly to the sheet. It is preferably provided that this electrostatically chargeable plate also has holes, so that by discharging air a simple unloading is possible.
  • the number of gripping segments on the gripping device are preferably adapted to the number of sheets cut from the sheet. This can be done a cost-optimized design of the gripping device.
  • the gripping segments are selectable controlled.
  • a safe handling of the leaves can be made possible without interference.
  • the gripping head is advantageously designed as a drum or roller for the facet-shaped arrangement of the gripping segments, which is driven in rotation about an axis of rotation arranged thereon. As a result, a fast, line or line processing for receiving the individual sheets of a sheet can be made possible.
  • an axis of rotation for receiving the drum or roller is provided on a movable arrangement.
  • a multi-axis robot or a multi-axis linear system can be provided in order to enable a fast and precise control of the individual removal positions as well as the transfer to the unloading position.
  • FIG. 1 is a perspective sheet 12 on a table 14, in particular cutting table, shown lying.
  • This sheet 12 is for example a sheet of paper or a paper-like material or a film which rests on the table 14 in a single layer.
  • a paper sheet is provided, from which several sheets 16 are cut, which are then stacked in a stacking device 18 one above the other. This stack of sheets 16 formed there is further processed into a book block for a book-type document, in particular value or security document.
  • the sheet 12 is cut, for example, by punching or laser cutting.
  • six or nine sheets 16 are made from a sheet 12, these sheets 16 are in particular formed as double pages.
  • a gripping device 19 according to FIG. 2 provided, which has a gripping head 21 with a plurality of gripping segments 22 arranged thereon.
  • This gripping device 19 is driven by a controller, not shown.
  • These gripping segments 22 are strung together in a facet-like manner. Each of these gripping segments 22 forms a receptacle for a single sheet 16, so that it can be accommodated on the gripping segment 22 fitting.
  • the gripping head 21 further comprises an axis 24, in particular a rotation axis 24, in order to position and grasp the individual gripping segments 22 successively clocked relative to the individual sheets 16. Through the axis 24 supply lines 26 are guided in the interior of the gripping head 21 to drive the gripping segments 22.
  • the gripping segments 22 are designed as so-called vacuum grippers.
  • a support surface 27 for the sheet 16 has a plurality of holes, so that when applying a vacuum on the supply lines 26, the upper side of the sheet 16 of the respective sheet 16 on the support surface 27 of the gripping segment 22 fully applied and gripped without mechanical action on the sheet 16 and Gripping segment 22 is fixed.
  • the support surface 27 is formed of an electrostatically chargeable material to fix the respective sheet 16 to the support surface 27 by means of an electrostatic charge.
  • the axis of rotation 24 is preferably designed as a connection means to a device, not shown, for handling the gripping device 19.
  • This may be a multi-axis robot or a multi-axis linear drive to control a movement for receiving the individual sheets 16, as well as a subsequent movement to the stacking device 18 and discard the leaves.
  • the number of gripping segments 22 is preferably adapted to the number of sheets 16 per cut sheet. For example, if the gripping device 19 has nine gripping segments 22 and the sheet 12 is cut into nine sheets 16, a successive recording of the individual sheets 16 according to the arrow 30, for example, represents a trajectory to accommodate the individual sheets 16. If the gripping device 19 moves from position 1 to position 2, it only requires further indexing in the direction of rotation of the gripping head 21 about the axis of rotation 24, so that the next free gripping segment 22 directly opposite the arranged in position 2 sheet 16. Due to the facet-shaped gripping segments 22 on the gripping head 21, the adjacent gripping segments 22 also do not influence the gripping segment 22 located in the gripping position.
  • the gripping device 19 is moved back and forth between the table 14 and the stacking device 18 until all the sheets 16 in the stack are in the stacking device 18.
  • a processing station 31 is shown, which between a gripping position, so the inclusion of the sheets 16 from the table 14 and the unloading station, so the laying of the sheets 16 in the stacking device 18 may be provided.
  • the processing station 31 may be formed as a printing station for processing a backside of the picked-up sheet 16.
  • a printing process, a coating process and / or an embossing process or the like can take place.
  • a processing tool 32 is shown schematically, which can be positioned by a movement corresponding to the back of the sheet 16 to perform the processing.
  • a text may be provided on each sheet back at the same location or from sheet 16 to sheet 16 a corresponding adjacent text may be provided, again to form a security feature, or merely number the sheets 16.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Discharge By Other Means (AREA)
  • Pile Receivers (AREA)

Claims (15)

  1. Procédé destiné à saisir des feuillets (16) et à déposer ceux-ci ensemble dans un dispositif d'empilage (18) en vue de former une pile, en particulier en vue d'empiler des feuillets (16) pour former un bloc de livret pour un document de type livret, caractérisé en ce que
    - un dispositif de préhension (19) formé par des segments de préhension (22) est positionné dans une position de préhension par rapport à une table (14) sur laquelle se trouvent des feuillets (16) découpées dans une feuille (12),
    - les feuillets (16) sont recueillis de manière individuelle et successive par respectivement un segment de préhension (22) du dispositif de préhension (19) jusqu'à ce qu'une grande partie des feuillets (16) obtenus à partir de la feuille (12) ou la totalité des feuillets (16) obtenus à partir de la feuille (12) a été recueillie par le dispositif de préhension (19), et
    - le dispositif de préhension (19) passe dans une position de déchargement dans laquelle les feuillets (16) individuels sont déposés les uns sur les autres dans le dispositif d'empilage (18).
  2. Procédé selon la revendication 1, caractérisé en ce que le dispositif de préhension (19) recueille dans un ordre prédéfini les feuillets (16) coupés et les dépose dans le même ordre dans le dispositif d'empilage (18).
  3. Procédé selon la revendication 1, caractérisé en ce que le dispositif de préhension (19) recueille dans un ordre prédéfini les feuillets (16) coupés et les dépose dans le dispositif d'empilage (18) dans un ordre sélectionné par un système de commande.
  4. Procédé selon la revendication 1, caractérisé en ce que chaque feuillet (16) est saisi par un segment de préhension (22) et est maintenu par rapport audit segment de préhension (22) par vide ou au moyen d'une charge électrostatique.
  5. Procédé selon l'une quelconque des revendications précédentes, caractérisé en ce que le dispositif de préhension (19) est amené entre la position de préhension et la position de déchargement à une station d'usinage (31) dans laquelle est usiné un côté libre du feuillet ou des feuillets (16).
  6. Procédé selon la revendication 5, caractérisé en ce qu'un côté verso des feuillets (16) est imprimé, revêtu et/ou estampé.
  7. Procédé selon l'une quelconque des revendications précédentes, caractérisé en ce que dans une feuille (12) sont découpés six ou neuf feuillets (16), en particulier en tant que doubles pages pour un bloc de livret, lesquels sont recueillis de manière successive par le dispositif de préhension (19) et sont déposés dans le dispositif d'empilage (18) en vue de former un bloc de livret.
  8. Dispositif de préhension destiné à manipuler des feuillets (16) en vue de réaliser le procédé selon l'une quelconque des revendications 1 à 7, caractérisé en ce qu'une tête de préhension (21) présente une multitude de segments de préhension (22) alignés les uns aux autres et que chacun des segments de préhension (22) comprend une surface d'appui (27) servant à recueillir un des feuillets (16) et contre laquelle repose le feuillet (16) saisi.
  9. Dispositif de préhension selon la revendication 8, caractérisé en ce que l'élément de préhension (27) présente des perforations permettant l'application d'un vide.
  10. Dispositif de préhension selon la revendication 8, caractérisé en ce que l'élément de préhension (22) présente une plaque chargeable électriquement, laquelle comprend la surface d'appui (27).
  11. Dispositif de préhension selon la revendication 8, caractérisé en ce que le nombre des segments de préhension (22) de la tête de préhension (21) est adapté au nombre des feuillets (16) découpés dans une feuille (12).
  12. Dispositif de préhension selon la revendication 8, caractérisé en ce que les segments de préhension (22) peuvent être commandés de manière sélective.
  13. Dispositif de préhension selon la revendication 8, caractérisé en ce que les segments de préhension (22) disposés sur la tête de préhension (21) sont disposés à la manière de facettes sur la tête de préhension (21) formée en tant que tambour ou rouleau.
  14. Dispositif de préhension selon la revendication 13, caractérisé en ce que la tête de préhension (21) présente un axe de rotation (24) grâce auquel la tête de préhension (21) est entraînée de manière rotative.
  15. Dispositif de préhension selon la revendication 8, caractérisé en ce que la tête de préhension (21) est prévue, au moyen de l'axe de rotation (24), sur un dispositif déplaçable, en particulier sur un robot multi-axes ou sur un actionneur linéaire multi-axes.
EP16753626.7A 2015-09-09 2016-08-09 Procédé de saisie de feuillets et de dépôt commun de ces derniers et dispositif de préhension Active EP3347210B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015115141.3A DE102015115141B4 (de) 2015-09-09 2015-09-09 Verfahren zum Greifen von Blättern und deren gemeinsamen Ablage sowie Greifvorrichtung
PCT/EP2016/068985 WO2017041976A1 (fr) 2015-09-09 2016-08-09 Procédé de saisie de feuillets et de dépôt commun de ces derniers et dispositif de préhension

Publications (2)

Publication Number Publication Date
EP3347210A1 EP3347210A1 (fr) 2018-07-18
EP3347210B1 true EP3347210B1 (fr) 2019-06-26

Family

ID=56738100

Family Applications (1)

Application Number Title Priority Date Filing Date
EP16753626.7A Active EP3347210B1 (fr) 2015-09-09 2016-08-09 Procédé de saisie de feuillets et de dépôt commun de ces derniers et dispositif de préhension

Country Status (3)

Country Link
EP (1) EP3347210B1 (fr)
DE (1) DE102015115141B4 (fr)
WO (1) WO2017041976A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4023578A1 (fr) * 2020-12-29 2022-07-06 IAI Industrial systems B.V. Dispositif de manipulation pour une pièce plate

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6026568A (ja) * 1983-07-20 1985-02-09 Gunze Ltd 物品の計数、収納装置
DE10055782A1 (de) 2000-07-05 2002-02-21 Perfecta Schneidemaschinenwerk Gmbh Verfahren und Anordnung zur Herstellung von blockartigen Drucherzeugnissen wie Bücher, Broschüren,Zeitschriften oder lose Blattwerke
DE102010025885A1 (de) 2010-07-02 2012-01-05 Manz Tübingen Gmbh Verfahren zum Stapeln von Blättern, insbesondere zur Fertigung einer Lithium-Ionen-Batterie
CN102275765B (zh) * 2011-05-06 2013-08-21 广州广电运通金融电子股份有限公司 薄片类介质捆扎装置
DE102011118168B4 (de) 2011-11-10 2015-12-31 Festo Ag & Co. Kg Verfahren zum Betreiben einer Vakuumgreifeinrichtung, Vakuumsteuereinrichtung und Manipulator

Non-Patent Citations (1)

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Title
None *

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Publication number Publication date
WO2017041976A1 (fr) 2017-03-16
DE102015115141A1 (de) 2017-03-09
DE102015115141B4 (de) 2019-01-24
EP3347210A1 (fr) 2018-07-18

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