Method for stacking products by means of a robot

Abstract

The present invention relates to a method for stacking products by means of a robot movement, wherein the robot (10) includes an articulated arm (11) and at least one gripper (30) for stacking products (1) provided on the articulated arm, and the product stack (1) is selectively flipped (140), and is characterized in that two grippers (30, 32) are adopted; and when placing or discharging (152) the product stack (1), these grippers leave the product stack in two mutually perpendicular directions in a horizontal plane. The present invention advantageously enables: automated operation and in particular discharging the product stack with or without flipping.

Description

Technical Field

[0001] The present invention relates to a method for stacking products by means of a robot. Background Art

[0002] The present invention is based on the field of graphic industry technology, and in particular on the field of manipulating (such as grasping, holding, moving, rotating, flipping and / or placing) a stack of products composed of preferably printed and folded flat products (preferably made of paper, cardboard, cardboard, plastic, metal or composite materials) by means of a manipulator (especially a robot or an articulated arm robot).

[0003] It is known to manually transfer a stack of products (such as folded leaflets) from the receiving device of a post-press machine (such as a folding machine) to a support, and to unload them there according to a known unloading pattern. This matter has a high physical working intensity because, for example, four to five stacks of products must be moved per minute. It is also known to use a robot with an articulated arm: for example, the product "CoBo-Stack" of the company "MBO Maschinenbau Oppenweiler Binder GmbH & Co. KG" located in Oppenweiler, Germany is known.

[0004] Document JPS6048848A discloses grasping at the diagonally opposite corners of a stack of products in Fig. 11d, and discloses the vertical relaxation of a stack of products in Fig. 9 The grippers shown in both cases belong to two separate robots here.

[0005] Document US2006263196A1 discloses rotating and flipping a stack by means of a robot gripper.

[0006] Document EP1645434B1 discloses pivoting a stack of products into an upright position and transferring the stack of products onto a gripper (or gripping the stack of products from above).

[0007] Document EP2128056A1 discloses a robot with an articulated arm for manipulating a stack, and discloses a gripping mechanism in Fig. 4.

[0008] Document DE202019106975U1 discloses a manipulating mechanism for transferring a stack of products, wherein the manipulating mechanism includes a gripping mechanism that is movable in three dimensions. The gripping mechanism includes first and second laterally limiting elements and upper and lower holding elements linearly movably supported along respective limiting elements. Summary of the Invention

[0009] The object of the present invention is to provide a solution that is improved compared to the prior art, which can in particular achieve: the automated movement of product stacks and in particular the unloading with or without turning over.

[0010] This object is solved according to the invention by a method according to a technical solution of the invention.

[0011] Advantageous and thus preferred refinements of the invention result from other technical solutions as well as from the description and the drawings.

[0012] The invention relates to a method for moving product stacks with the aid of a robot, wherein the robot comprises an articulated arm and at least one gripper for the product stack arranged on the articulated arm, and the product stack is turned over in a selectable manner. The invention is characterized in that two grippers are used; and when placing (or unloading) the product stack, these grippers move away from the product stack in two mutually perpendicular directions in the horizontal plane.

[0013] The invention can advantageously achieve: the automated movement of product stacks and in particular the unloading with or without turning over.

[0014] Advantageously according to the invention, the product stack is manipulated (i.e., placed or unloaded) with the aid of two grippers, wherein these grippers move away from the product stack in two mutually perpendicular directions in the horizontal plane. In this way, the product stack can be released for placement (or unloading), and / or these grippers can move away from the product stack. Furthermore, in this way, the product stack can be placed (or unloaded) without interference. Finally, in this way, these grippers can move away from the product stack without interference and in particular without collision.

[0015] The term "wahlweise" means: the product stack is either turned over or not. This selection can preferably be implemented by a digital computer and can be made by the digital computer in particular according to a so-called unloading pattern (Absetzmuster). The term "wahlweise" should also mean: the method can be executed continuously multiple times, one product stack at a time, and it can also be achieved here that at least one product stack is turned over while at least one product stack is not turned over.

[0016] Here, the refinement of the invention lies in:

[0017] The preferred refinements of the invention (abbreviation: refinements) are described below.

[0018] An improvement can be characterized in that, when placing (or discharging) a stack of products, these grippers open in a vertical plane. Here, the gripper claws of the grippers can move, preferably, the gripper claws located above the stack of products can move upward. The other gripper claws (preferably the one located below the stack of products) can be stationary.

[0019] An improvement can be characterized in that a plurality of stacks of products are moved, and each stack of products is moved to a respectively selected discharge position of a pre-given discharge pattern, such that in the selected discharge positions, these grippers are removed from the stack of products without collision in a horizontal plane relative to the already discharged stack of products.

[0020] A particularly improved solution with respect to the swinging aspect lies in:

[0021] The present invention relates to a method for moving a stack of products by means of a robot, wherein the robot includes an articulated arm and at least one gripper for the stack of products provided on the articulated arm, and the stack of products is flipped in a selectable manner. The present invention is characterized in that the stack of products is swung at an effective angle α1≠180°, and then the stack of products is swung at an effective angle α2 = 180° - α1 or swung back at an effective angle α2 = -α1.

[0022] The stack of products is swung in two steps in an advantageous manner and is flipped in a selectable manner here. In the first step, it is swung at an effective angle α1≠180°. In the second step, it is swung at an effective angle α2 = 180° - α1. If α1 and α2 are both 90°, for example, a 180° flip is achieved. If α1 and α2 are 90° and -90°, for example, no flip is achieved.

[0023] This two-step swinging method can advantageously add intermediate steps, for example, shaking (Rütteln) and / or linearly ramming (Geradstoβen) the stack of products. In addition, this two-step swinging method can advantageously perform the above two steps at different positions, for example, in such a way that the robot moves therebetween. In addition, this two-step swinging method can advantageously enable: performing the above two steps using different devices (for example, using a robot and using a swinging mechanism different from the robot).

[0024] The term "effective angle" shall mean: this angle is independent of the swinging manner. An effective angle of +90° can thus be achieved, for example, by swinging +90°, by swinging +45° twice, or by swinging -270°. In the present invention, instead of the "effective angle", the term "angle" can also simply be applied.

[0025] An improvement may be characterized in that a swing mechanism different from the robot is used to achieve a swing at an effective angle α1. The swing mechanism may be assigned to and in particular provided on the stacker of a post-printing machine (in particular a folder). The swing mechanism may include a swingable gripper for the product stack. The swing mechanism may be controlled by a digital computer. The swing mechanism preferably swings the product stack at α1 = 90°.

[0026] An improvement may be characterized in that it swings at an effective angle α1 before the movement, or rather the movement starts from the swung state of the product stack. The movement is preferably achieved by means of a robot arm.

[0027] An improvement may be characterized in that it swings at an effective angle α1 about a horizontal axis. This axis may be oriented parallel to the conveying direction of the stacker of a post-printing machine (in particular a folder). The product stack is preferably gripped and held before the swing.

[0028] An improvement may be characterized in that the product stack is swung out of the horizontal position when swinging at an effective angle α1. In this horizontal position, the individual products of the product stack (e.g., folded leaflets) are preferably arranged horizontally.

[0029] An improvement may be characterized in that the product stack is swung into the vertical position when swinging at an effective angle α1. In this vertical position, the individual products of the product stack preferably "stand".

[0030] An improvement may be characterized in that the product stack is oriented outside the horizontal position and / or pushed linearly in one direction and / or pushed linearly in two mutually perpendicular directions and / or shaken and / or ventilated; and / or such that the fan-shaped product stack becomes a non-fan-shaped product stack ("collapsed"). At the same time, the product stack may be located in the swing mechanism, for example, in its gripper. The gripper can be easily opened here, especially for ventilation. For linear pushing and / or collapsing the mechanism may include two mutually movable, mutually perpendicular surfaces (e.g., preferably plate members with lateral flanges). The mechanism can be opened before the swing and closed after the swing. For this purpose, these surfaces can move away from and towards each other. For shaking, a pneumatic cylinder may be provided. Finally, the mechanism (or its individual surfaces) preferably moves to the open position so as to be able to receive the product stack.

[0031] An improvement can be characterized in that the product stack is rotated about a vertical axis in a vertical position, preferably by 180°. This advantageously enables the product stack to be grasped from the same side in the vertical position both in the case of a selectively flipped and in the case of a selectively non-flipped state. This rotation can be achieved by means of a swing mechanism. The swing mechanism can include a rotation drive for this purpose. This rotation drive can be controlled by a digital computer.

[0032] An improvement can be characterized in that the receiving of the product stack is achieved from one side of the product stack in the case of flipping; the receiving of the product stack is achieved from the same side of the product stack in the case of non-flipping. The receiving from one side or the other can be carried out by means of the articulated arm of a robot. The selection of the opposite side can be achieved in a computer-controlled manner. A pre-given discharge pattern can be taken into account here.

[0033] An improvement can be characterized in that the robot receives the product stack in a vertical position. The robot (and in particular its gripper) can be moved towards the product stack in a computer-controlled manner for this purpose, for example from above and / or from one side.

[0034] An improvement can be characterized in that the product stack is moved in a vertical position, at least in partial sections of the above-mentioned movement. The position (Lage) of the product stack can be changed along the movement section, for example by swinging (about a horizontal axis) and / or by rotating (about a vertical axis).

[0035] An improvement can be characterized in that the robot receives the product stack from the swing mechanism and then moves it. The receiving and holding of the product stack can be achieved by means of the grasping mechanism of the robot. This movement can be achieved by the movement of the articulated arm of the robot. Additionally, the robot can move in a horizontal plane. All actions of the robot can preferably be achieved in a computer-controlled manner.

[0036] An improvement can be characterized in that the receiving of the product stack is achieved from one side of the product stack in the case of flipping; the receiving of the product stack is achieved from the opposite side of the product stack in the case of non-flipping. The receiving from one side or the other can be carried out by means of the articulated arm of the robot. The grasping mechanism of the robot can be rotated here such that grasping from one side or the other is achieved. The selection of the opposite side can be achieved in a computer-controlled manner. A pre-given discharge pattern can be taken into account here.

[0037] An improvement can be characterized in that it swings at an effective angle α2, which is achieved during the movement or between two partial movements or after the movement. This swinging can be achieved in a computer-controlled manner. A pre-given discharge pattern can be taken into account here.

[0038] An improvement can be characterized in that it swings at an effective angle α2, which is achieved by means of a robot. This swinging can be achieved by a corresponding movement of the articulated arm of the robot, and / or can be achieved by a swinging mechanism on the robot (or on its articulated arm) and / or by a swingable gripper mechanism on the robot (or on its articulated arm). The swinging can be achieved in a computer-controlled manner.

[0039] An improvement can be characterized in that the product stack returns to the horizontal position when swinging at the effective angle α2. The product stack is placed without being flipped (i.e., not flipped) in this case.

[0040] An improvement can be characterized in that the product stack is placed in the horizontal position. This placement (Ablegen) is preferably achieved on a carrier. For the placement, the grippers on the robot can be opened simultaneously or successively and drive away laterally.

[0041] An improvement can be characterized in that the product stack rotates about a vertical axis before placement. Thereby, the orientation of the product stack in the horizontal plane can be changed, for example, by 90° or 180° effectively. This rotation can be achieved in a computer-controlled manner. A pre-given unloading pattern can be taken into account here.

[0042] An improvement can be characterized in that the effective angle α1 = 90°, and the effective angle α2 = 90°, and continues to swing with α2. In the case of continuous swinging, the swinging with α1 and the swinging with α2 are preferably achieved along the same swinging direction. Here, the product stack is "totally" flipped.

[0043] An improvement can be characterized in that the effective angle α1 = 90°, and the effective angle α2 = -90°, and returns to swing with α2. In the case of return swinging, the swinging with α1 and the swinging with α2 are preferably achieved along opposite swinging directions. Here, the product stack is "totally" not flipped.

[0044] An improvement can be characterized in that the product stack is held by at least two grippers during movement.

[0045] An improvement can be characterized in that the product stack is held form-locked and / or force-locked during movement.

[0046] An improvement can be characterized in that one side of the product stack has at least four edges; and the product stack is held on the diagonally opposite edges during movement. In the case of more than four edges, such edges can be selected, for example: these edges have a large interval from each other and / or these edges are very approximately diagonally opposite.

[0047] An improvement can be characterized in that two diagonally opposite edges or two other diagonally opposite edges are held in an optional manner. The selection of the edges can be achieved in a computer-controlled manner. Here, a pre-given discharge pattern can be taken into account. For this purpose, the gripper mechanism on the robotic arm is preferably rotated.

[0048] An improvement can be characterized in that the product stack is held in such a way that the product stack sags vertically. For this purpose, the spacing of the gripper of the robot can be reduced (preferably in a computer-controlled manner) until the desired or pre-given degree of sagging is reached. The product stack can be formed by folded paper.

[0049] An improvement can be characterized in that the product stack is held in such a way that the product stack sags diagonally. Thereby, the product stack can be discharged in a controlled and self-fixed manner with the diagonal as the "deepest point". For this purpose, the product stack can be held on the diagonally opposite edges.

[0050] A particularly improved solution regarding discharge is as follows:

[0051] In the following, further preferred improvements of the present invention (abbreviation: improvements) are described.

[0052] An improvement can be characterized in that the above-mentioned movement ends at a selected discharge position among a plurality of discharge positions of a pre-given discharge pattern. This discharge pattern can be stored in a digital computer or in a network connected thereto. Multiple discharge patterns can be stored, for example, in a database. The selection of the discharge position (and / or the order of the discharge positions for successively to-be-moved product stacks) can be achieved in a computer-controlled manner. In the case where the product stack forms a conveying stack, the discharge pattern can be selected for each horizontal state (or horizontal layer), and in particular, different discharge patterns can be selected for two successive states (or two successive layers).

[0053] An improvement can be characterized in that the product stack is discharged onto the bottom layer (Unterlage) at the selected discharge position, preferably onto a tray.

[0054] An improvement can be characterized in that the product stack is held in such a way that the product stack sags diagonally; and in the case of discharging a diagonally-sagging product stack, first its sagging part (Durchhang) is brought into contact with the bottom layer.

[0055] The features of an improved solution may lie in that the unloading pattern is stored in a digital computer or downloaded to the digital computer from another digital computer via a network; the above-mentioned movement is controlled by the digital computer.

[0056] The features of an improved solution may lie in that the unloading pattern is calculated and / or selected by a digital computer based on at least one of the following parameters: the size of the product stack; the size of the bottom layer; in the case of a product stack formed by folded products: the position of the folding edge relative to the bottom layer, and / or the construction of the folding edge according to the folding method.

[0057] The features of an improved solution may lie in that a plurality of product stacks are successively moved, optionally flipped, optionally rotated in a horizontal plane, and unloaded at unloading positions respectively selected from a plurality of unloading positions of a pre-given unloading pattern. Here, a computer-controlled robot with an articulated arm and a gripping mechanism can be used.

[0058] The improvement lies in:

[0059] In the following, further preferred improvements of the present invention (abbreviation: improvement) are described.

[0060] The features of an improved solution may lie in that the product stack is moved from the feeder of a post-printing processing machine for printed products to a tray or to one of a plurality of trays. In the latter case, continuous operation can be achieved.

[0061] The features of an improved solution may lie in that the product stack is moved from the feeder of a post-printing processing machine (such as a folder, a saddle stitcher or a perfect binder) for printed products to a tray or to one of a plurality of trays.

[0062] The features of an improved solution may lie in that the product stacks in the feeder are conveyed along the conveying direction and separated from each other in the conveying direction (separiert). This conveying can be achieved on a roller conveyor. For this separation, the respective drivable rollers can be driven or stopped accordingly.

[0063] The features of an improved solution may lie in that the robot can be applied in a movable manner at multiple positions of a single post-printing processing machine or on multiple post-printing processing machines. For this purpose, the robot can be supported on rollers and / or tracks.

[0064] The features of an improved solution may lie in that the product stack is formed by folded and / or die-cut printed products.

[0065] The features of an improved solution can lie in that multiple products are stacked on a conveying tray in a conveying stack, with the multiple product stacks horizontally offset from each other and stacked in multiple horizontal planes arranged one above the other, or a conveying stack is correspondingly formed or constructed. The selection of the offset and / or the planes can be achieved in a computer-controlled manner. Here, a pre-given unloading pattern can be taken into account.

[0066] The features of an improved solution can lie in that sensors provided on the robot detect the height of the conveying stack. The sensors can be provided on the grasping mechanism of the robot. Multiple sensors can be provided. The height can be determined absolutely, for example, measured from the upper edge of the tray or from the ground, or relatively determined as the distance from the sensors.

[0067] The features of an improved solution can lie in that as the height, a single height value, multiple height values at different horizontal positions, or a height profile is detected.

[0068] The features of an improved solution can lie in that as the sensors, distance sensors for measuring height are used, or cameras with digital image processing modules for calculating the height from camera images are used.

[0069] The features of an improved solution can lie in that the robot arm moves collision-free above a conveying stack that has only been partially constructed, and the digital computer takes the detected height into account when controlling the movement of the robot arm.

[0070] The features of an improved solution can lie in that the robot removes single intermediate layers from a stack and places them on corresponding planes. These intermediate layers can be made of cardboard. The placement of the intermediate layers can be achieved in a computer-controlled manner. Here, a pre-given unloading pattern and / or stacking pattern can be taken into account.

[0071] The features of an improved solution can lie in that the intermediate layers are held by suction. For this purpose, suction grippers can be provided on the grasping mechanism of the robot. Multiple such suction grippers can be used.

[0072] The features of an improved solution can lie in that the above-mentioned movements are realized fully automatically, in accordance with the selected unloading pattern and / or stacking pattern and coordinated with at least the production speed of the post-printing machine.

[0073] The features of an improved solution can lie in that the movement of the robot arm is realized within a protected area.

[0074] The features of an improved solution may lie in that, in order to establish the protected area, a housing and / or a railing and / or a grating and / or a camera monitoring is adopted.

[0075] A particularly improved solution with regard to the device for implementing the method lies in:

[0076] The following describes further preferred improvements of the present invention (abbreviation: improvement).

[0077] The features of an improved solution of the method according to the present invention may lie in that a device for moving a product stack by means of a robot is adopted, wherein the robot includes an articulated arm, and a first gripper for the product stack is provided on the articulated arm. The method is characterized in that a grasping mechanism is provided on the articulated arm, the grasping mechanism includes a first gripper and a second gripper, and the first gripper and the second gripper are positioned relative to each other.

[0078] The device itself can become another aspect of the present invention:

[0079] A device for moving a product stack by means of a robot, wherein the robot includes an articulated arm, and a first gripper for the product stack is provided on the articulated arm. The device is characterized in that a grasping mechanism is provided on the articulated arm, the grasping mechanism includes a first gripper and a second gripper, and the first gripper and the second gripper can be positioned relative to each other.

[0080] Advantageously, the device itself according to the present invention and its application can achieve: automatically moving the product stack and particularly discharging it with or without being turned over.

[0081] A particular advantage of the present invention may lie in that product stacks of different sizes or different specifications can be moved and particularly discharged with or without being turned over in a selectable manner.

[0082] The following describes further preferred improvements of the present invention (abbreviation: improvement). These improvement solutions can also be the preferred improvement solutions of the device itself in other aspects of the present invention.

[0083] The features of an improved solution may lie in that the above two grippers can be positioned for a pre-given specification of the product or the product stack, preferably in a computer-controlled manner. These grippers can be movable for positioning (preferably linearly movable). This positioning is preferably achieved in a computer-controlled manner.

[0084] The features of an improved solution may lie in that the above two grippers can be positioned at the two ends of the selected diagonal of the selected specification. This positioning is preferably achieved in a computer-controlled manner.

[0085] The features of an improved solution can lie in that the first gripper is configured as a first pliers gripper having a first pair of gripper jaws, and the second gripper is configured as a second pliers gripper having a second pair of gripper jaws.

[0086] The features of an improved solution can lie in that each of the two pairs of gripper jaws includes a non-movable gripper jaw and a gripper jaw that is linearly movable relative to the non-movable gripper jaw respectively. A linear drive, preferably an electric drive with a threaded spindle, can be provided. These non-movable gripper jaws are of course not completely immovable: these non-movable gripper jaws can be moved by the movement of the robot, the gripping mechanism and / or the gripper. These non-movable gripper jaws only do not move when the gripper opens and closes, or move only insignificantly compared to the movable gripper jaws.

[0087] The features of an improved solution can lie in that each of these non-movable gripper jaws includes a horizontally extending bearing element and at least one vertically extending stop element respectively.

[0088] The features of an improved solution can lie in that each of the two non-movable gripper jaws includes a horizontally extending bearing surface as the bearing element and two vertically extending and mutually perpendicular stop surfaces as the stop elements respectively. All these surfaces can be perpendicular to each other.

[0089] The features of an improved solution can lie in that the product stack is held by the gripper jaws in a force-locking and / or form-locking manner.

[0090] The features of an improved solution can lie in that at least one blowing mechanism is provided on the gripping mechanism, and the blowing mechanism blows air under the product stack when the product stack is placed.

[0091] The features of an improved solution can lie in that at least one additional gripper is provided on the gripping mechanism, and the additional gripper is configured as a suction gripper for the intermediate layer. This suction gripper can apply suction air in a computer-controlled manner for suction gripping and holding.

[0092] The features of an improved solution can lie in that at least one distance sensor and / or at least one camera is provided on the gripping mechanism.

[0093] The features of an improved solution can lie in that the gripping mechanism includes a first bearing arm, and the first gripper is arranged on the first bearing arm in a manner that it can move linearly along the longitudinal direction of the first bearing arm.

[0094] The features of an improved solution can lie in that the gripping mechanism includes a second bearing arm, and the second gripper is arranged on the second bearing arm in a manner that it can move linearly along the longitudinal direction of the second bearing arm.

[0095] In order to enable these grippers to move along these load-bearing arms, linear drives can be provided on the load-bearing arms respectively, preferably electric drives with threaded spindles. The linear drives can be electric. The load-bearing arms can have a length related to the largest-sized product stack to be moved.

[0096] An improved solution can be characterized in that the first load-bearing arm and the second load-bearing arm are arranged perpendicular to each other on the gripping mechanism. These load-bearing arms can form an X-Y axis system for grippers with adjustable specifications. The movable gripper claws of these grippers can form a Z axis perpendicular to the above-mentioned X-Y axes.

[0097] An improved solution can be characterized in that the above two linearly movable gripper claws can move perpendicular to the corresponding load-bearing arms.

[0098] An improved solution can be characterized in that the gripping mechanism is rotatably arranged on the robot arm around a rotation axis. The rotation axis is preferably used for the rotation of the product stack around the vertical axis and / or for the unloading of the product stack that has been rotated in the horizontal plane.

[0099] An improved solution can be characterized in that the gripping mechanism is swingably arranged on the robot arm around a swing axis perpendicular to the rotation axis. The swing axis is preferably used for the swinging of the product stack around the horizontal axis and / or for the unloading of the product stack that can be selectively flipped or not flipped with reference to the horizontal plane.

[0100] An improved solution can be characterized in that the articulated arm includes six axes (preferably rotation axes).

[0101] An improved solution can be characterized in that the robot can move horizontally relative to one or more post-printing machines that produce product stacks, for example, on rails or on rollers.

[0102] The features and feature combinations disclosed in the above-mentioned parts "Technical Field", "Background Art", "Summary of the Invention" and in the various above-mentioned parts for improved solutions and in the following part "Embodiments" can be combined with each other arbitrarily to form further advantageous improved solutions of the present invention.

[0103] An alternative is:

[0104] For an alternative to the above two-step swinging method, this task can be solved by means of a one-step swinging method. Here, in order to flip the product stack in a selectable manner, the gripping mechanism of the articulated-arm robot preferably grabs from below and swings through an effective angle of 180° in the horizontal orientation, for example, during the movement to the bracket. If flipping is not required in a selectable manner, then the product stack can preferably be grabbed from above in the horizontal orientation. Description of the Drawings

[0105] Figures 1 to 8 Shows preferred embodiments of the present invention and its improvements. Features corresponding to each other are provided with the same reference numerals in the drawings. Repeated reference numerals in the drawings are partially omitted for the purpose of clarity. Detailed Description of the Invention

[0106] Figure 1 Shows a preferred embodiment of a device according to the present invention, which preferably includes a robot 10 for performing steps of a preferred implementation form of the method according to the present invention. The appended Figure 1 What is shown is a top view from above.

[0107] The post-printing machine 70 (preferably a folding machine), which is only partially shown in the drawing, produces printed products 2 (preferably printed and / or folded leaflets 2) at position 74. These printed products 2 move (e.g., are conveyed) along the conveying direction 71 on the stacker 72 in the form of a product stack 1. The operation of the stacker (especially the conveying) can be controlled by a digital computer 80. The product stack 1 preferably includes a plurality of products stacked one above the other.

[0108] The digital computer 80 is preferably connected to a network 81, and the digital computer 80 can control the post-printing machine 70 (and optionally other machines), for example, by providing task data for product manufacturing. The task data can be provided via the network 81.

[0109] The stacker 72 can move the product stack 1 into a protected area 73. The robot 10 can be arranged within this area. The robot 10 preferably includes an articulated arm 11 having a plurality of axes 12 (e.g., six axes). The robot 10 can be a conventional industrial robot.

[0110] A gripping mechanism 20 is provided on the robot 10 (preferably at the end of its articulated arm 11 or “hand”). The gripping mechanism 20 can grip, hold, and remove the product stack 1 from the stacker 72 in space (preferably only within the protected area 73). This movement 15 causes the product stack 1 to move along a spatial curve to the conveying bracket 62. There, the product stack 1 is placed and preferably unloaded at the unloading position 60 according to the unloading pattern 61. Preferably, a plurality of brackets accessible by the robot 10 can be provided. This movement 15 can include a plurality of sub-movements 16. Between two sub-movements 16, the gripping mechanism 20 can, for example, rotate and / or swing. Rotation and / or swinging can also be achieved during the above-mentioned movement 15.

[0111] A swing mechanism 40 is preferably provided at the end of the stacker 72. The swing mechanism 40 can swing the product stack 1 from the horizontal 50 (or horizontal plane 53 or horizontal position 52) to the vertical 54 (or vertical plane 57 or vertical position 56). The swing mechanism 40 can include two preferably horizontally movable orienting elements 41 for the product stack 1 and / or linear pusher 42. These orienting elements 41 and / or linear pusher 42 can be configured as surfaces (e.g., plates).

[0112] The actions of the robot 10 (especially the movement 15 and / or sub-movement 16) and / or the actions of the swing mechanism 40 (especially the swing) can be controlled by a digital computer 80.

[0113] Figure 2 A preferred embodiment of the stacker 72 of the post-printing processing machine 70 is shown. The stacker 72 can include a plurality of rollers 76. The stacker 72 can be a roller conveyor. Some of these rollers 76 can be driven, for example, by a motor 75. The digital computer 80 can control the conveyance of the product stack 1 composed of products 2 stacked on top of each other. Here, these product stacks 1 can be separated from each other along the conveying direction 71. The products 2 and thus the product stacks 1 formed preferably have four corners 5. The die-cut products can also have a plurality of corners. If it involves folded products, then their folded backs (Falzrücken) are preferably parallel to the conveying direction 71.

[0114] Figure 3a and 3b A preferred embodiment of the stacker 72 is shown. The stacker 72 preferably includes a swing mechanism 40, wherein each step of the preferred implementation form of the method according to the present invention is performed. Perspective views are shown respectively.

[0115] Figure 3a and 3b The end of the folder 70 and the stacker 72 are shown. On the stacker 72, the product stack 1 is conveyed along the conveying direction 71 until the swing mechanism 40 (method step: conveyance 101). The product stack 1 and thus the product 2 are preferably in the horizontal position 52 before swinging.

[0116] The swing mechanism 40 preferably includes a gripper 43, for example, rods movable relative to each other, preferably one rod (closed "pressing piece") on one side of the product stack 1 and three rods on the other side. The swing mechanism 40 and / or its gripper 43 can swing about a horizontal axis 51. The gripper (located below the product stack 1 in Figure 3a can be positioned between the rollers 76 and can swing out from this position.

[0117] Figure 3a and 3bPartially shown is the robot 10 and its articulated arm 11. The robot 10 is preferably movable horizontally on the ground and can thus be positioned at different locations. The robot 10 can be supported, for example, on rollers 76. Tracks can be provided, for example.

[0118] Figure 3a and 3b Preferably shown are the horizontally movable orientation element 41 and / or the linear pusher 42.

[0119] In Figure 3a and 3b In the comparison between and, it can be seen that the swinging movement or swing 110 is achieved at the effective angle α1 (method step: swing 110). In the example shown, the angle α1 is 90°. The product stack 1 is preferably in the vertical position 56 after the swing 110. For the folded product 2, the folded back is preferably upward in the vertical position.

[0120] Figure 3a and 3b Shown are two sides 3 and 4. The robot 1 can preferably grasp the swung product stack 1 from one side 3 or from the opposite side 4. Side 3 can be referred to as the front side, and side 4 can be referred to as the rear side. The selection of the opposite side can be achieved in a computer-controlled manner according to the unloading pattern.

[0121] The swinging mechanism 40 can optionally be configured to be rotatable and thus rotate about the vertical axis 55. The product stack 1 can preferably be rotated 180°. In the case of this option, the robot 1 can always grasp the swung product stack 1 from the same side, preferably from side 3 (or the front side).

[0122] Figures 4a to 4d Shown is a preferred embodiment of the robot-guided grasping mechanism 20, in which the individual steps of a preferred implementation form of the method according to the invention are carried out. Perspective views are shown respectively.

[0123] Figures 4a to 4d Shown is the flange 26 of the robot 10. The grasping mechanism 20 for the product stack 1 is preferably provided on this flange 26. The grasping mechanism 20 is preferably rotatable about the rotation axis 13 (method step: rotation 142). The grasping mechanism 20 is preferably swingable about the swing axis 14 (method step: continue swing 122 or return swing 123). Both the rotation axis 13 and the swing axis 14 can be achieved by only one axis 12 of the robot 10, or can also be achieved by three axes each.

[0124] The gripping mechanism 20 preferably includes two bearing arms: a first bearing arm 21 and a second bearing arm 23. These bearing arms are preferably perpendicular to each other. A first gripper 30 is preferably movably arranged on the first bearing arm 21 along a first longitudinal direction 22. A second gripper 32 is preferably movably arranged on the second bearing arm 23 along a second longitudinal direction 24. These grippers can be driven by linear actuators 25 for their size-related adjustment.

[0125] The first gripper 30 preferably includes a first pair of gripper jaws 31, and the first pair of gripper jaws 31 includes a non-movable gripper jaw 31a and a movable gripper jaw 31b. The movable gripper jaw 31a can be driven by a linear actuator 37. The second gripper 32 preferably includes a second pair of gripper jaws 33, and the second pair of gripper jaws 33 includes a non-movable gripper jaw 33a and a movable gripper jaw 33b. The movable gripper jaw 33a can be driven by a linear actuator 37. These non-movable gripper jaws can each include a bearing element 34 (preferably a bearing surface). These movable gripper jaws are used to open and close the gripper.

[0126] These grippers 30 and 32 preferably grip the product stack 1 composed of products 2 at its corners 5 and particularly preferably at the diagonally opposite corners 6 (see the diagonal 7 in Figure 5 .

[0127] In Figure 4a the illustrated example, the gripping mechanism 20 grips the product stack 1 swung into a vertical position from side 4 (i.e., for example, from the rear side). In other words: The gripping mechanism 20 is preferably located on side 4 when gripping the product stack 1. To clarify this, the conveying direction 71 is depicted.

[0128] In Figure 4b the illustrated example, the gripping mechanism 20 also grips the product stack 1 swung into a vertical position from side 4 (i.e., for example, from the rear side).

[0129] In Figure 4a the comparison between 4b it can be seen that either one pair of corners 5 ("upper left" and "lower right") or the other pair of corners 5 ("lower left" and "upper right") can be gripped. The selection of the corners can be made in a computer-controlled manner and according to the unloading pattern.

[0130] In Figure 4c the illustrated example, the gripping mechanism 20 grips the product stack 1 swung into a vertical position from side 3 (i.e., for example, from the front side).

[0131] In Figure 4d the illustrated example, the gripping mechanism 20 also grips the product stack 1 swung into a vertical position from side 3 (i.e., for example, from the front side).

[0132] In Figure 4c in the comparison with 4d it can also be seen that either one pair of corners 5 (“upper left” and “lower right”) or the other pair of corners 5 (“lower left” and “upper right”) can be grasped. The selection of the pair of corners can in turn be made in a computer-controlled manner and according to the unloading pattern.

[0133] Whether the product stack 1 is grasped from side 3 or side 4, and whether in this case one pair of corners 5 or the other pair of corners 5 is grasped, depends on how the product stack 1 is to be placed: whether the product stack 1 is to be placed turned over or not, and whether the product stack 1 is to be rotated or not. This in turn depends on the selected unloading pattern and the corresponding unloading position within this pattern. The digital computer 80 controls the grasping and thus the suitable movements of the robot 10 according to the unloading pattern and the unloading position. The above-mentioned side and the above-mentioned corners are accordingly selected.

[0134] After grasping and during the movement 130 (in particular between the two partial movements 130a and 130b) and preferably before placement (method step 152), the product stack 1 is swung at an effective angle α2, either continued swing (method step 122) or return swing (method step 123). By continued swing, the product stack 1 is preferably placed turned over (method step: turning over 140); by return swing it is preferably placed without turning over (method step: not turning over 141).

[0135] Figure 5 Shows a preferred embodiment of the grasping mechanism, in which the step “loosening the product stack 1 vertically 150” of the preferred implementation form of the method according to the invention is carried out. A perspective view is shown.

[0136] In Figure 5 a grasping mechanism 20 with the above two grippers 30 and 32 is shown. These grippers hold the product stack 1 on diagonally opposite corners 6. These grippers are positioned (or spaced apart from each other) on the two support arms 21 and 23 according to the specifications of the product stack 1 such that the product stack 1 is loosened vertically (method step: making it loose vertically 150). In the case where the product stack 1 is placed on the conveying bracket 62 or on an already formed conveying stack 64, the vertically loosened diagonal 8 first touches the bracket 62 (or the conveying stack 64). This allows the product stack 1 to be placed precisely and without interference, and the opened grippers 30 and 32 to be removed from the product stack 1 by movement along the mutually perpendicular direction 58. This opening and removal can be controlled by the digital computer 80.

[0137] Figure 5Show the above two non-movable gripper jaws 31a and 33a, which have two corresponding stop elements 35 (in particular stop surfaces 35). The above two support elements 34 (not shown below the product stack 1 and thus in Figure 5 are preferably horizontally oriented when placing the product stack 1, while at the same time two (i.e., four) stop elements 35 are preferably vertically oriented. The opening and closing of these grippers (or the movement of these movable gripper jaws 31b and 33b) is achieved along the direction 38.

[0138] Figure 5 Show a sensor 66, preferably on one of these non-movable ("lower") gripper jaws 31a and 33a. This sensor 66 can measure the spacing (or height 65) relative to the carriage 62 or relative to the already formed transport stack 64 and transmit the measured value to a digital computer 80, so that the digital computer 80 can control an accurate and especially collision-free placement.

[0139] Figure 5 Show two additional grippers 36 (in particular suction grippers 36). These grippers 36 are preferably used to grasp and hold the intermediate layer 67.

[0140] Figure 6a and 6b Show a preferred embodiment of the unloading pattern.

[0141] Figure 6a and 6b Exemplarily show top views of twelve product stacks 1 each. These product stacks 1 are placed in the order 1 to 12.

[0142] At each corner of each product stack 1, the gripping mechanism 20 (or flange 26) is shown as a circle. Two grippers 30 and 32 are shown at two corners each. The arrows 58 each show the following direction: the direction along which the opened grippers move in order to release the product stack 1.

[0143] Place the product stack 1 on the unloading position 60 according to the respectively selected unloading pattern 61, which allows: moving these grippers 30 and 32 collision-free relative to the previously placed product stack 1 in the horizontal plane.

[0144] As can be seen in Figure 6a and 6b a so-called "chimney part" 68 can be produced, i.e., a free space in the unloading pattern 61.

[0145] Figure 6a In comparison with 6bA comparison shows that the unloading pattern 61 can be changed. Preferably, the unloading pattern 61 is changed in each new horizontal plane (or layer of the conveying stack 64 to be formed). This can improve the stability of the conveying stack 64.

[0146] Figure 7 Shows a preferred embodiment of the conveying stack 64 produced by the step "placement". A side view is shown.

[0147] On the conveying carriage 62, the first layer 63 of the product stack 1 is placed according to the first unloading pattern. The intermediate layer 67 is placed on this first layer 63. These intermediate layers 67 can be taken out by the robot 10 from the adjacent intermediate layer stack. For this purpose, a suction gripper 36 can be used. The second layer 63 of the product stack 1 is placed on the intermediate layer 67 according to a second unloading pattern (preferably different from the first unloading pattern). It can be seen that the edges of the product stack 1 can have a horizontal offset 69 relative to each other. In this way, the stability of the conveying stack 64 can be improved.

[0148] The gripping mechanism 20 can measure the vertical spacing 65 by means of the sensor 66 when approaching the conveying stack 64, and the digital computer 80 can control the collision-free movement of the gripping mechanism 20 with the aid of this measured value.

[0149] Figure 8 Shows a preferred embodiment of the process planning. The optional steps of the method are shown by dashed lines.

[0150] Processing (100) can include manufacturing the folded product 2.

[0151] Conveying (101) can include conveying the product stack 1 along the conveying direction 71.

[0152] Separating (102) can include separating the product stack 1 along the conveying direction 71.

[0153] Stopping (103) can include stopping the product stack 1 when using the swing mechanism 40.

[0154] Swinging (110) can include swinging the product stack 1 by means of the swing mechanism 40, in particular swinging by α1 = 90°.

[0155] Orienting (111) can include orienting the product stack 1, preferably about the vertical axis. For this purpose, an orienting element 41 is used.

[0156] Linear ramming (112) can include linearly ramming the product 2. For this purpose, a linear rammer 42 can be used.

[0157] Shaking (113) can include shaking the product stack 1 and thus the product 2.

[0158] Ventilation (114) may include ventilating the product stack 1. The ventilation may be achieved by shaking.

[0159] Changing (115) may include changing the fanned-out product stack 1 into a non-fanned-out product stack 1. For this purpose, the orienting elements 41 may be used. These orienting elements 41 may each be formed by a face (for example, a plate with two bent edges).

[0160] Receiving (120) may be achieved by means of the gripping mechanism 20 (and in particular by means of its grippers 30 and 32). When receiving, the product stack 1 may be transferred from the swinging mechanism 40 to the gripping mechanism 20. The receiving may be achieved from side 3 or side 4.

[0161] Holding (121) may be achieved by means of the closed grippers 30 and 32.

[0162] Continuing to swing (122) may be achieved by means of the robot arm 11, in particular continuing to swing by α2 = 90°.

[0163] Returning to swing (123) may be achieved by means of the robot arm 11, in particular returning to swing by α2 = -90°.

[0164] Preferably, either continue to swing or return to swing according to the discharging pattern.

[0165] The movement (130) is preferably achieved using the robot 10. The sub-movements (130a) and (130b) are preferably achieved using the robot 10.

[0166] Calculation (131) is preferably achieved using the digital computer 80. The movement of the robot 10 may be calculated.

[0167] Control (132) is preferably achieved using the digital computer 80. The movement of the robot 10 may be controlled.

[0168] Flipping (140) may be achieved by means of the robot arm 11, in particular α1 + α2 = 180°.

[0169] Not flipping (141) may be achieved by means of the robot arm 11, in particular α1 + α2 = 0°.

[0170] Rotation (142) may be achieved by means of the robot arm 11.

[0171] Making slack (150) may be achieved by an adjustable spacing between the two grippers 30 and 32.

[0172] Measurement of the spacing 65 and / or the height 65 (151) may be achieved by means of the sensor 66.

[0173] Placement or vertical stacking (152) can be achieved by means of the robot arm 11. In this case, in particular, the predefined unloading pattern 61 can be taken into account.

[0174] List of reference numerals

[0175] 1 Product stack

[0176] 2 Printed product, in particular a folded printed product

[0177] 3 Side

[0178] 4 Opposite side

[0179] 5 Edge

[0180] 6 Opposite edges on the diagonal

[0181] 7 Diagonal

[0182] 8 Slack diagonal

[0183] 10 Device, in particular a robot

[0184] 11 Robot arm or articulated arm

[0185] 12 Axis

[0186] 13 Axis of rotation

[0187] 14 Axis of oscillation

[0188] 15 Movement or section

[0189] 16 Sub - movement or partial section

[0190] 20 Gripping mechanism

[0191] 21 First load - bearing arm

[0192] 22 First longitudinal direction

[0193] 23 Second load - bearing arm

[0194] 24 Second longitudinal direction

[0195] 25 Linear drive

[0196] 26 Flange

[0197] 30 First gripper, in particular a tong - type gripper

[0198] 31 First pair of gripper jaws

[0199] 31a Non - movable gripper jaw

[0200] 31b Movable gripper jaw

[0201] 32. Second gripper, in particular pincer gripper

[0202] 33. Second pair of gripper jaws

[0203] 33a. Non - movable gripper jaw

[0204] 33b. Movable gripper jaw

[0205] 34. Support element, in particular support surface

[0206] 35. Stop element, in particular two stop surfaces

[0207] 36. Another gripper, in particular suction gripper

[0208] 37. Linear drive

[0209] 38. Movement during gripper opening / closing

[0210] 39. Blowing mechanism

[0211] 40. Swinging mechanism

[0212] 41. Orientation element

[0213] 42. Linear pusher (Geradstoβer)

[0214] 43. Gripper

[0215] 50. Horizontal

[0216] 51. Horizontal axis

[0217] 52. Horizontal position

[0218] 53. Horizontal plane

[0219] 54. Vertical

[0220] 55. Vertical axis

[0221] 56. Vertical position

[0222] 57. Vertical plane

[0223] 58. Two mutually perpendicular directions

[0224] 60. Discharge position

[0225] 61. Discharge pattern

[0226] 62. Bottom layer, in particular carrier

[0227] 63. Layer of already placed product stack

[0228] 64. Conveyor stack

[0229] 65 Height

[0230] 66 Sensor, especially a spacing sensor or a camera

[0231] 67 Intermediate layer

[0232] 68 Chimney part

[0233] 69 Misalignment

[0234] 70 Post-printing processing machine, especially a folding machine

[0235] 71 Conveying direction

[0236] 72 Reel-off device

[0237] 73 Protected area

[0238] 74 Position of the post-printing processing machine

[0239] 75 Driver

[0240] 76 Roller

[0241] 80 Digital computer

[0242] 81 Network

[0243] 100 Processing

[0244] 101 Conveying

[0245] 102 Separating

[0246] 103 Stopping

[0247] 110 Oscillating

[0248] 111 Orienting

[0249] 112 Linear pushing

[0250] 113 Shaking

[0251] 114 Ventilating

[0252] 115 Changing

[0253] 120 Receiving

[0254] 121 Holding

[0255] 122 Continuing to oscillate

[0256] 123 Returning to oscillate

[0257] 130 Movement

[0258] 130a Sub-movement

[0259] 130b partial motion

[0260] 131 Calculation

[0261] 132 Control

[0262] 140 Flip

[0263] 141 Non - flip

[0264] 142 Rotate

[0265] 150 Make the vertical pine

[0266] 151 Measure

[0267] 152 Place or stack vertically

[0268] α1 (First) effective angle

[0269] α2 (Second) effective angle

Claims

1. A method for moving product stacks by means of a robot, Among them, wherein the robot (10) includes an articulated arm (11) and two grippers (30, 32) provided on the articulated arm for the product stack (1), and wherein the grippers are configured to grip the product stack and turn the product stack (1) in a selectable manner (140), characterized in that the two grippers (30, 32) are for placing the product stack and then opening in the vertical direction; and when placing or discharging (152) the product stack (1), the grippers move away from the product stack (1) in two mutually perpendicular directions (58) in the horizontal plane.

2. The method according to claim 1, characterized in that when placing or discharging (152) the product stack (1), the grippers (30, 32) open in the vertical plane.

3. The method according to claim 2, characterized in that one gripper claw of the grippers (30, 32) moves.

4. The method according to claim 2 or 3, characterized in that one gripper claw of the grippers (30, 32) does not move.

5. The method according to any one of claims 1 to 3 above, characterized in that a plurality of product stacks (1) are moved, and each product stack (1) is moved to a respectively selected discharge position (60) of a pre-given discharge pattern (61), such that, in the selected discharge position (60), the grippers (30, 32) move away from the product stack (1) in the horizontal plane without collision with the already discharged product stack (1).

6. The method according to any one of claims 1 to 3 above, characterized in that the product stack (1) is swung (110) through an effective angle α1≠180°, and then the product stack (1) is swung through an effective angle α2 = 180° - α1 or swung back (123) through an effective angle α2 = -α1.

7. The method according to any one of claims 1 to 3 above, characterized in that the movement (130, 130a, 130b) is ended at the selected discharge position (60) among a plurality of discharge positions (60) of a pre-given discharge pattern (61).

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