Method for moving a stack of products by means of a robot

Abstract

The invention relates to a method for moving a product stack by means of a robot, wherein the robot (10) comprises an articulated arm (11) and at least one gripper (30) for the product stack (1) arranged on the articulated arm, and the product stack (1) is selectively turned (140) by the robot, characterized in that the movement (130, 130a, 130b) ends at a selected discharge position (60) from a plurality of discharge positions (60) of a predetermined discharge pattern (61). The invention advantageously enables automated operation and, in particular, discharge of the product stack with or without turning.

Description

Technical Field

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

[0002] The present invention is based on the field of graphic arts industry technology and in particular on the field of handling (e.g. gripping, holding, moving, rotating, turning and / or placing) product stacks consisting of preferably printed and folded flat products (preferably made of paper, cardboard, cardboard, plastic, metal or composite materials) by means of a manipulator (in particular a robot or an articulated-arm robot).

[0003] It is known to manually transport product stacks (e.g., folded leaflets) from the delivery of a post-press processing machine (e.g., a folder) to a carrier and unload them there according to a known unloading scheme. This operation is physically demanding, as, for example, four to five product stacks must be moved per minute. It is also known to use robots with articulated arms for this purpose; for example, the "CoBo-Stack" product of MBO Maschinenbau Oppenweiler Binder GmbH & Co. KG, located in Oppenweiler, Germany, is known.

[0004] Document JPS6048848A discloses in FIG. 11 d the gripping of diagonally opposite corners of a product stack and in FIG. 9 the loosening of a product stack. The two shown grippers belong here to two separate robots.

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

[0006] Document EP 1 645 434 B1 discloses pivoting a product stack into an upright position and transferring the product stack to a gripper (or gripping the product stack from above).

[0007] Document EP 2 128 056 A1 discloses a robot having an articulated arm for manipulating a stack, and in FIG. 4 a gripping mechanism.

[0008] Document DE 202019106975 U1 discloses a handling mechanism for transferring product stacks, wherein the handling mechanism includes a gripping mechanism that is movable in three dimensions. The gripping mechanism includes first and second lateral limiting elements and upper and lower holding elements that are supported linearly and displaceably along each limiting element. Summary of the Invention

[0009] The object of the present invention is to propose a solution which is improved compared to the prior art and which in particular allows for an automated movement of product stacks and, in particular, for unloading them with or without tilting.

[0010] The solution according to the present invention is:

[0011] This object is achieved according to the invention by a method for moving a stack of products by means of a robot.

[0012] Advantageous and therefore preferred developments of the invention result from the preferred exemplary embodiments as well as from the description and the drawings.

[0013] The present invention relates to a method for moving a stack of products using a robot, wherein the robot comprises an articulated arm and at least one gripper for the stack of products arranged on the articulated arm, and selectively turns the stack of products. The invention is characterized in that the movement ends at a selected one of a plurality of discharge positions of a predetermined discharge pattern.

[0014] The invention advantageously enables the automated movement of product stacks and, in particular, the unloading of product stacks with or without being turned.

[0015] According to the invention and advantageously, the product stack is moved to a selected one of a plurality of discharge positions of a predetermined discharge pattern and is preferably discharged there.

[0016] The discharge pattern can be stored in a digital computer or downloaded to it from another digital computer via a network; the aforementioned movement is controlled by the digital computer. Multiple discharge patterns can be stored, for example in a database. The selection of the discharge position (and / or the sequence of discharge positions for successive product stacks to be moved) can be computer-controlled. When the transport stack is composed of product stacks, a discharge pattern can be selected for each horizontal position (or horizontal level), and in particular, different discharge patterns can be selected for two successive positions (or two successive levels).

[0017] The term "selectably" means that the product stack is either turned over or not. This selection can preferably be made by a digital computer and can be made by the digital computer, in particular, based on a so-called discharge pattern. The term "selectably" should also mean that the method can be carried out multiple times in succession, one product stack at a time, and that it is also possible for at least one product stack to be turned over while at least one product stack is not turned over.

[0018] The improvement plan is:

[0019] Further preferred refinements of the invention (referred to in short as refinements) are described below.

[0020] A development can be characterized in that the product stack is discharged at a selected discharge point onto a bottom layer, preferably onto a carrier.

[0021] One development can be characterized in that the product stack is held in such a way that it hangs diagonally, and that when a product stack that hangs diagonally is unloaded, its hang first touches the bottom layer.

[0022] A further development may be characterized in that the discharge pattern is stored in a digital computer or is downloaded to the digital computer from another digital computer via a network; the above-mentioned movement is controlled by the digital computer.

[0023] An improved solution can be characterized 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 product stacks formed from folded products: the position of the folding edge relative to the bottom layer, and / or the construction structure (Aufbau) of the folding edge according to the folding method.

[0024] One refinement can be characterized by the fact that a plurality of product stacks are moved successively, optionally tilted, optionally rotated in the horizontal plane, and discharged at a respectively selected discharge position from a plurality of discharge positions of a predetermined discharge pattern. A computer-controlled robot with an articulated arm and a gripping mechanism can be used for this purpose.

[0025] The special improvement scheme regarding swing is:

[0026] One development can be characterized in that the product stack is pivoted by an effective angle α1≠180° and subsequently pivoted by an effective angle α2=180°−α1 or pivoted back by an effective angle α2=−α1.

[0027] The product stack is advantageously pivoted in two steps and optionally turned over. In the first step, the product stack is pivoted at an effective angle α1≠180°. In the second step, the product stack is pivoted at an effective angle α2=180°-α1. If α1 and α2 are both 90°, for example, a 180° turn is achieved. If α1 and α2 are 90° and -90°, for example, no turn is achieved.

[0028] The two-step oscillation method according to the present invention advantageously allows for the addition of intermediate steps, such as shaking and / or linearly pushing the product stack. Furthermore, the two-step oscillation method according to the present invention advantageously allows for the two steps to be performed at different locations, for example, by a robot moving between them. Furthermore, the two-step oscillation method according to the present invention advantageously allows for the two steps to be performed using different devices (e.g., a robot and an oscillation mechanism different from the robot).

[0029] According to the invention, the product stack is advantageously pivoted in two steps and selectively turned over. In the first step, the product stack is pivoted at an effective angle α1≠180°. In the second step, the product stack is pivoted at an effective angle α2=180°-α1. If α1 and α2 are both 90°, for example, a 180° turn is achieved according to the invention. If α1 and α2 are 90° and -90°, for example, no turn is achieved according to the invention.

[0030] This two-step oscillation method advantageously allows for the addition of intermediate steps, such as shaking and / or linearly pushing the product stack. Furthermore, this two-step oscillation method advantageously allows for the two steps to be performed at different locations, for example, by a robot moving between them. Furthermore, this two-step oscillation method advantageously allows for the two steps to be performed using different devices (e.g., a robot and an oscillation mechanism different from the robot).

[0031] The term "effective angle" is intended to indicate that this angle is independent of the type of oscillation. Thus, an effective angle of +90° can be achieved, for example, by oscillating by +90°, by two oscillations of +45° each, or by oscillating by -270°. In the present invention, the term "angle" may also be used instead of "effective angle."

[0032] One refinement can be characterized in that the swiveling at the effective angle α1 is achieved by means of a swivel mechanism other than a robot. The swivel mechanism can be associated with and, in particular, mounted on a delivery of a post-printing machine (in particular, a folder). The swivel mechanism can include a swivel gripper for the product stack. The swivel mechanism can be controlled by a digital computer. The swivel mechanism preferably swivels the product stack at α1 = 90°.

[0033] A further development can be characterized in that the movement is preceded by a pivoting operation at an effective angle α1 , or in other words, the movement starts from an already pivoted position of the product stack. The movement is preferably carried out by means of a robot arm.

[0034] One refinement can be characterized by pivoting about a horizontal axis at an effective angle α1. This axis can be oriented parallel to the conveying direction of a delivery of a post-printing machine, in particular a folder. The product stack is preferably grasped and held before pivoting.

[0035] A further development can be characterized in that the product stack is pivoted out of a horizontal position when pivoting at an effective angle α 1 . In this horizontal position, the individual products of the product stack (eg folded leaflets) are preferably arranged horizontally.

[0036] A further development can be characterized in that the product stack is swung into a vertical position when pivoting at an effective angle α 1 . In this vertical position, the individual products of the product stack preferably "stand".

[0037] A further development can be characterized in that the product stack is oriented outside the horizontal position and / or is pushed linearly in one direction and / or in two mutually perpendicular directions and / or is shaken and / or ventilated; and / or the product stack is fanned out. The product stack becomes a product stack that is no longer fanned out ("folded in"). At the same time, the product stack can be located in a pivoting mechanism, for example in its gripper. The gripper can be opened easily here, especially for ventilation. For linear pushing and / or folding The mechanism can include two mutually perpendicular surfaces (e.g., preferably plates with lateral bends) that are movable relative to one another. The mechanism can be opened before the pivoting motion and closed after the pivoting motion. To this end, the surfaces can be moved away from and toward one another. A pneumatic cylinder can be provided for the pivoting motion. Finally, the mechanism (or its individual surfaces) is preferably moved into an open position, thereby being able to receive a stack of products.

[0038] One refinement can be characterized by rotating the product stack in the vertical position about a vertical axis, preferably by 180°. This advantageously allows the product stack to be gripped from the same side in the vertical position, both when optionally tilted and when optionally not tilted. This rotation can be achieved by means of a pivot mechanism. For this purpose, the pivot mechanism can include a rotary drive. This rotary drive can be controlled by a digital computer.

[0039] An improved solution may be characterized in that the stack of products is received When the product stack is turned, it is removed from one side; when the product stack is not turned, it is removed from the same side. Removal from one or the other side can be performed using the robot's articulated arm. The selection of the opposite side can be computer-controlled, allowing for a predetermined unloading pattern.

[0040] A feature of a further development may be that the robot takes over the product stack in a vertical position. The robot (and in particular its gripper) can be moved to the product stack in a computer-controlled manner, for example from above and / or from one side.

[0041] One refinement can be characterized in that the product stack is moved in a vertical position, at least along a portion of the movement. The position of the product stack can be changed along the movement portion, for example by pivoting (about a horizontal axis) and / or by rotating (about a vertical axis).

[0042] One refinement may be characterized in that the robot receives the product stack from the swing mechanism and subsequently moves it. The product stack may be received and held by the robot's gripping mechanism. This movement may be accomplished by the movement of the robot's articulated arm. Furthermore, the robot may be movable in a horizontal plane. All robot movements are preferably computer-controlled.

[0043] One refinement can be characterized in that the product stack is received from one side of the stack when it is turned over, and from the opposite side of the stack when it is not turned over. Receiving from one or the other side can be performed using the robot's articulated arm. The robot's gripping mechanism can be rotated to allow for gripping from one or the other side. The selection of the opposite side can be computer-controlled. A predetermined discharge pattern can be taken into account.

[0044] A further development can be characterized by a pivoting motion at an effective angle α2, which can be performed during the movement or between two partial movements or after the movement. This pivoting motion can be performed in a computer-controlled manner. A predetermined discharge pattern can be taken into account.

[0045] One refinement can be characterized by a pivoting motion at an effective angle α2, which is achieved by means of a robot. This pivoting motion can be achieved by a corresponding movement of the robot's articulated arm and / or by a pivoting mechanism on the robot (or on its articulated arm) and / or by a pivotable gripping mechanism on the robot (or on its articulated arm). The pivoting motion can be computer-controlled.

[0046] A further development can be characterized in that the product stack is pivoted back into the horizontal position when pivoting at the effective angle α 2 . In this case, the product stack is not tilted (ie not tilted).

[0047] A further development can be characterized in that the product stack is placed in a horizontal position. This placement is preferably carried out on a carrier. For placement, the grippers on the robot can be opened simultaneously or sequentially and moved laterally away.

[0048] One refinement can be characterized in that the product stack is rotated about a vertical axis before placement. This allows the orientation of the product stack in the horizontal plane to be changed, for example, by an effective 90° or 180°. This rotation can be computer-controlled, allowing for a predetermined discharge pattern to be taken into account.

[0049] One refinement can be characterized in that the effective angle α1 = 90° and the effective angle α2 = 90°, and the oscillation continues at α2. In the case of continued oscillation, the oscillation at α1 and the oscillation at α2 preferably occur in the same oscillation direction. In this case, the product stack is "totally" turned over.

[0050] One refinement can be characterized in that the effective angle α1 = 90° and the effective angle α2 = -90°, and the return oscillation is performed at α2. In the case of the return oscillation, the oscillation at α1 and the oscillation at α2 are preferably performed in opposite oscillation directions. In this case, the product stack is not "overturned" in its entirety.

[0051] One development can be characterized in that the product stack is held by at least two grippers during the movement.

[0052] A development can be characterized in that the product stack is held in a form-fitting and / or force-fitting manner during the movement.

[0053] One refinement can be characterized in that one side of the product stack has at least four corners, and the product stack is held during the movement at diagonally opposite corners. If there are more than four corners, for example, the corners can be selected such that they are widely spaced apart and / or are very nearly diagonally opposite.

[0054] One refinement can be characterized by selectively holding two diagonally opposite corners or two further diagonally opposite corners. The selection of the corners can be computer-controlled. Predefined discharge patterns can be taken into account. For this purpose, the gripping mechanism on the robot arm is preferably rotated.

[0055] One refinement can be characterized in that the product stack is held in such a way that it sags. To this end, the spacing of the grippers of the robot can be reduced (preferably in a computer-controlled manner) until a desired or predetermined sag is achieved. The product stack can be formed from folded paper.

[0056] One refinement can be characterized in that the product stack is held so that it sags diagonally. This allows the product stack to be unloaded in a controlled and inherently secure manner, with the diagonal serving as the "deepest point." For this purpose, the product stack can be held at diagonally opposite corners.

[0057] The specific improvements to crawling are:

[0058] Further preferred refinements of the invention (referred to in short as refinements) are described below.

[0059] A development can be characterized in that two grippers are used and that, when placing (or unloading) the product stack, the grippers are moved away from the product stack in a horizontal plane along two mutually perpendicular directions.

[0060] One refinement can be characterized in that the grippers are opened in a vertical plane when placing (or unloading) the product stack. The gripper claws of the grippers can be moved, preferably the gripper claw located above the product stack can be moved upward. The other gripper claw (preferably the gripper claw located below the product stack) can be stationary.

[0061] A development can be characterized in that each product stack is moved into a discharge position of the discharge pattern that has been selected in each case so that in the discharge position the grippers can be removed from the product stack in a horizontal plane relative to the already discharged product stack without collision.

[0062] The improvement plan is:

[0063] Further preferred refinements of the invention (referred to in short as refinements) are described below.

[0064] The feature of a kind of improvement can be, makes product stack move to a carriage or move to one of a plurality of carriages from the receiving device of the post-press processing machine for printed products.In the latter case, can realize non-stop operation.

[0065] One development can be characterized in that the product stack is moved from a delivery of a post-printing machine for printed products, such as a folder, a saddle stitcher or a perfect binder, to a carriage or to one of several carriages.

[0066] A further feature of the invention is that the product stacks in the receiver are transported in the conveying direction and separated from each other in the conveying direction. This transport can be achieved on a roller conveyor. For this separation, the individual drivable rollers can be driven or stopped accordingly.

[0067] The feature of a kind of improvement can be that the robot can be applied on a plurality of positions of single post-press processing machine or on a plurality of post-press processing machines in a movably manner.For this reason, the robot can be supported on roller and / or track.

[0068] One development can be characterized in that the product stack is formed from folded and / or die-cut printed products.

[0069] One refinement can be characterized in that a plurality of product stacks are stacked horizontally offset relative to one another and arranged in a plurality of horizontal planes one above the other to form a transport stack on a transport carrier, or a transport stack is formed or constructed accordingly. The selection of the offset and / or the planes can be computer-controlled. Predefined discharge patterns can be taken into account.

[0070] One refinement can be characterized in that a sensor provided on the robot detects the height of the transport stack. The sensor can be provided on a gripping mechanism of the robot. Multiple sensors can be provided. The height can be determined absolutely, for example, measured from the upper edge of the carrier or from the ground, or relatively, as a distance from the sensor.

[0071] A further development can be characterized in that as the height: a single height value, a plurality of height values at different horizontal positions, or a height curve is detected

[0072] One development can be characterized in that a distance sensor for measuring the height or a camera with a digital image processing module for calculating the height from the camera image is used as the sensor.

[0073] One development can be characterized in that the robot arm is moved collision-free over a transport stack that has only been partially built, the digital computer taking the detected height into account when controlling the movement of the robot arm.

[0074] One refinement can be characterized in that the robot removes individual intermediate layers from a stack and places them on a corresponding flat surface. These intermediate layers can consist of thick paper. The placement of the intermediate layers can be computer-controlled, taking into account a predetermined discharge pattern and / or stacking pattern.

[0075] A feature of an improved solution may be that the intermediate layer is held by suction. For this purpose, a suction gripper may be provided on the gripping mechanism of the robot. A plurality of such suction grippers may be used.

[0076] A development can be characterized in that the above-mentioned movement is carried out fully automatically, according to the selected discharge pattern and / or stacking pattern and coordinated with at least the production speed of the post-printing machine.

[0077] One development can be characterized in that the movement of the robot arm takes place within a protected area.

[0078] One development can be characterized in that a housing and / or a barrier and / or a light barrier and / or camera monitoring is used to establish the protected area.

[0079] Particular improvements with regard to the apparatus for carrying out the method are:

[0080] Further preferred refinements of the invention (referred to in short as refinements) are described below.

[0081] A further development of the method according to the invention can be characterized in that a device for moving a product stack by means of a robot is used, wherein the robot comprises an articulated arm on which a first gripper for the product stack is arranged. The method is characterized in that a gripping mechanism is arranged on the articulated arm, the gripping mechanism comprising a first gripper and a second gripper, wherein the first gripper and the second gripper are positioned relative to one another.

[0082] The device itself may form another aspect of the invention:

[0083] A device for moving a stack of products by means of a robot, wherein the robot comprises an articulated arm on which a first gripper for the stack of products is arranged. The device is characterized in that a gripping mechanism is arranged on the articulated arm, the gripping mechanism comprising a first gripper and a second gripper, wherein the first gripper and the second gripper can be positioned relative to each other.

[0084] A particular advantage of the invention may be that product stacks of different sizes or formats can be moved and, in particular, can be discharged with or without being turned over in a selective manner.

[0085] Other preferred improvements of the present invention (hereinafter referred to as improvements) are described. These improvements can also become preferred improvements of the device itself according to other aspects of the present invention.

[0086] One refinement can be characterized in that the two grippers can be positioned to a predetermined size of the product or product stack, preferably in a computer-controlled manner. The grippers can be movable (preferably linearly) for positioning. This positioning is preferably performed in a computer-controlled manner.

[0087] A feature of an improved solution may be that the two grippers can be positioned at the two ends of the selected diagonal line of the selected specification. This positioning is preferably achieved in a computer-controlled manner.

[0088] One development can be characterized in that the first gripper is designed as a first tongs gripper with a first pair of gripper claws, and the second gripper is designed as a second tongs gripper with a second pair of gripper claws.

[0089] One improvement can be characterized in that the two pairs of gripper jaws each include a non-movable gripper jaw and a gripper jaw that is linearly movable relative to the non-movable gripper jaw. A linear drive, preferably an electric drive with a threaded spindle, can be provided. These non-movable gripper jaws are naturally not completely non-movable: they can be moved by the movement of the robot, the gripping mechanism, and / or the gripper. These non-movable gripper jaws only remain stationary when the gripper is opened and closed, or they move only insignificantly compared to the movable gripper jaws.

[0090] A development can be characterized in that the non-movable gripper claws each comprise a horizontally extending support element and each at least one vertically extending stop element.

[0091] One improved solution may be characterized in that the two immovable gripper claws each comprise a horizontally extending support surface as a support element and two vertically extending and mutually perpendicular stop surfaces as stop elements. All of these surfaces may be mutually perpendicular.

[0092] A development can be characterized in that the product stack is held by the gripper claws in a non-positive and / or positive manner.

[0093] A further development can be characterized in that at least one air blowing mechanism is provided on the gripping mechanism, which blows air under the product stack when the product stack is deposited.

[0094] A feature of an improved solution may be that at least one further gripper is provided on the gripping mechanism, the further gripper being configured as a suction gripper for the intermediate layer. Such a suction gripper can apply suction air in a computer-controlled manner for suction gripping and holding.

[0095] One development can be characterized in that at least one distance sensor and / or at least one camera is arranged on the gripping device.

[0096] One development can be characterized in that the gripping mechanism comprises a first supporting arm, on which the first gripper is arranged so as to be movable linearly along the longitudinal direction of the first supporting arm.

[0097] One development can be characterized in that the gripping mechanism comprises a second support arm, on which the second gripper is arranged so as to be movable linearly along the longitudinal direction of the second support arm.

[0098] To move the grippers along the support arms, each support arm can be provided with a linear drive, preferably an electric drive with a threaded spindle. The linear drive can be electric. The support arms can have a length corresponding to the largest product stack to be moved.

[0099] One improved embodiment can be characterized in that the first and second supporting arms are arranged perpendicularly to each other on the gripping mechanism. These supporting arms can form an XY axis system for a gripper with adjustable dimensions. The movable gripper claws of these grippers can form a Z axis perpendicular to the XY axes.

[0100] A development can be characterized in that the two linearly movable gripper jaws are movable perpendicularly to the respective support arm.

[0101] A further development can be characterized in that the gripping mechanism is rotatably arranged on the robot arm about a rotation axis. The rotation axis is preferably used for rotating the product stack about a vertical axis and / or for unloading a product stack that has been rotated in a horizontal plane.

[0102] One refinement can be characterized in that the gripping mechanism is pivotably mounted on the robot arm about a pivot axis perpendicular to the rotation axis. The pivot axis is preferably used to pivot the product stack about a horizontal axis and / or to discharge the product stack with or without being tilted, optionally with reference to a horizontal plane.

[0103] One development can be characterized in that the articulated arm comprises six axes (preferably axes of rotation).

[0104] One development can be characterized in that the robot is movable horizontally relative to one or more post-printing machines which produce the product stack, for example on rails or on rollers.

[0105] The features and feature combinations disclosed in the above sections "Technical Field", "Background Technology", "Summary of the Invention", in the various above sections on improvements, and in the following sections on embodiments can be combined with each other in any desired manner to form further advantageous improvements of the invention.

[0106] The alternatives are:

[0107] As an alternative to the two-step oscillation method described above, this task can be solved using a single-step oscillation method. Here, the product stack is gripped, preferably from below, in a horizontal orientation by a gripping mechanism of an articulated-arm robot for optional tilting and swiveled through an effective angle of 180°, for example, while being moved to a carrier. If the product stack is not to be tilted in an optional manner, the product stack can be gripped, preferably from above, in a horizontal orientation. BRIEF DESCRIPTION OF THE DRAWINGS

[0108] Figures 1 to 8 The preferred embodiment of the present invention and its developments is shown. Corresponding features are provided with the same reference numerals in the drawings. Repeated reference numerals in the drawings are partially omitted for the sake of clarity. DETAILED DESCRIPTION

[0109] Figure 1 FIG. 1 shows a preferred embodiment of a device according to the invention, which preferably comprises a robot 10 for carrying out the steps of a preferred embodiment of the method according to the invention. Figure 1 Shown is a top view from above.

[0110] A post-press processing machine 70 (preferably a folder), only partially shown in the drawing, produces printed products 2 (preferably printed and / or folded leaflets 2) at a location 74. These printed products 2 are moved (e.g., transported) in the form of a product stack 1 on a delivery 72 in a conveying direction 71. The movement of the delivery (particularly the transport) can be controlled by a digital computer 80. The product stack 1 preferably comprises a plurality of products stacked one above the other.

[0111] The digital computer 80 is preferably connected to a network 81 and can control the post-printing machine 70 (and optionally other machines), for example, to provide job data for product manufacturing. The job data can be provided via the network 81.

[0112] The receiver 72 can move the product stack 1 into a protected area 73. A robot 10 can be arranged in this area, preferably comprising an articulated arm 11 having a plurality of axes 12 (eg, six axes). The robot 10 can be a conventional industrial robot.

[0113] 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 move the product stack 1 from the receiver 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 conveyor bracket 62. There, the product stack 1 is placed and preferably unloaded at the unloading position 60 according to the unloading pattern 61. Preferably, there can be multiple brackets that can be reached by the robot 10. This movement 15 can include multiple 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.

[0114] A swing mechanism 40 is preferably provided at the end of the receiver 72. This swing mechanism 40 can swing the product stack 1 from a horizontal position 50 (or a horizontal plane 53 or a horizontal position 52) to a vertical position 54 (or a vertical plane 57 or a vertical position 56). This swing mechanism 40 can include two, preferably horizontally movable, orientation elements 41 and / or linear pushers 42 for the product stack 1. These orientation elements 41 and / or linear pushers 42 can be configured as surfaces (e.g., plates).

[0115] The movements of the robot 10 (particularly the movement 15 and / or the partial movement 16 ) and / or the movements of the swivel mechanism 40 (particularly the swivel movement) can be controlled by a digital computer 80 .

[0116] Figure 2 A preferred embodiment of a material receiver 72 of a post-press processing machine 70 is shown. The material receiver 72 can include a plurality of rollers 76. The material receiver 72 can be a roller conveyor. Some of these rollers 76 can be driven, for example by motors 75. A digital computer 80 can control the conveying of product stacks 1 consisting of products 2 stacked on top of each other. In this case, these product stacks 1 can be separated from each other along the conveying direction 71. The products 2 and therefore also the formed product stacks 1 preferably have four corners 5. Die-cut products can also have multiple corners. If the product is folded, then its folded back is preferably parallel to the conveying direction 71.

[0117] Figure 3a and 3b A preferred embodiment of a material receiver 72 is shown, which preferably comprises a pivot mechanism 40, in which the individual steps of a preferred embodiment of the method according to the invention are carried out.

[0118] Figure 3a and 3bThe end of the folding machine 70 and the delivery 72 are shown, on which the product stack 1 is conveyed in the conveying direction 71 to the pivoting mechanism 40 (method step: conveying 101 ). The product stack 1 and thus the products 2 are preferably in a horizontal position 52 before pivoting.

[0119] The oscillating mechanism 40 preferably comprises grippers 43, for example rods that are movable relative to one another, preferably one rod (closed "pressing element") on one side of the product stack 1 and three rods on the other side thereof. The oscillating mechanism 40 and / or its grippers 43 can be oscillated about a horizontal axis 51. The grippers (at Figure 3a The roller 76 (centrally located below the product stack 1) can be positioned between the rollers 76 and can be swung out of this position.

[0120] Figure 3a and 3b A section of the robot 10 and its articulated arm 11 is shown. The robot 10 is preferably movable in the horizontal direction on the ground and can thus be positioned at different locations. The robot 10 can be supported, for example, on rollers 76. For example, rails can be provided.

[0121] Figure 3a and 3b A horizontally movable orientation element 41 and / or a linear thruster 42 is preferably shown.

[0122] exist Figure 3a and 3b A comparison shows that the pivoting movement or pivoting 110 is carried out at an effective angle α1 (method step: pivoting 110 ). In the example shown, the angle α1 is 90°. After the pivoting 110 , the product stack 1 is preferably in the vertical position 56 . For folded products 2 , the folded back is preferably in the vertical position with the fold facing upwards.

[0123] Figure 3a and 3b Two sides 3 and 4 are shown. The robot 10 can preferably pick up the swung product stack 1 from one side 3 or from the opposite side 4. Side 3 can be called the front side, while side 4 can be called the rear side. The selection of the opposite side can be carried out in a computer-controlled manner according to the discharge pattern.

[0124] The pivoting mechanism 40 can optionally be designed to be rotatable and thus rotate about a vertical axis 55. The product stack 1 can preferably be rotated through 180°. In this option, the robot 1 can always pick up the pivoted product stack 1 from the same side, preferably from the side 3 (or the front).

[0125] Figures 4a to 4d A preferred embodiment of a robot-guided gripping mechanism 20 is shown, in which the individual steps of a preferred embodiment of the method according to the invention are carried out.

[0126] Figures 4a to 4d The flange 26 of the robot 10 is shown. The gripping mechanism 20 for the product stack 1 is preferably arranged on this flange 26. The gripping mechanism 20 is preferably rotatable about the rotation axis 13 (method step: rotation 142). The gripping mechanism 20 is preferably rotatable about the pivot axis 14 (method step: further pivoting 122 or return pivoting 123). Both the rotation axis 13 and the pivot axis 14 can each be realized by only one axis 12 of the robot 10, or also by three axes in each case.

[0127] The gripping mechanism 20 preferably comprises two supporting arms: a first supporting arm 21 and a second supporting arm 23. These supporting arms are preferably perpendicular to each other. A first gripper 30 is preferably arranged on the first supporting arm 21 so as to be movable along a first longitudinal direction 22. A second gripper 32 is preferably arranged on the second supporting arm 23 so as to be movable along a second longitudinal direction 24. These grippers can be driven by a linear drive 25 for their size-dependent adjustment.

[0128] The first gripper 30 preferably includes a first pair of gripper claws 31, which include a non-movable gripper claw 31a and a movable gripper claw 31b. The movable gripper claw 31a can be driven by a linear drive 37. The second gripper 32 preferably includes a second pair of gripper claws 33, which include a non-movable gripper claw 33a and a movable gripper claw 33b. The movable gripper claw 33a can be driven by a linear drive 37. These non-movable gripper claws can each include a supporting element 34 (preferably a supporting surface). These movable gripper claws are used to open and close the gripper.

[0129] These grippers 30 and 32 preferably grip the product stack 1 consisting of products 2 at its corners 5 and particularly preferably at its diagonals (see Figure 5 Grab the corners 6 opposite the diagonal 7 in the figure.

[0130] exist Figure 4a In the example shown, the gripping mechanism 20 grips the product stack 1 pivoted vertically from the side 4 (ie, for example, from the rear side). In other words, the gripping mechanism 20 is preferably located on the side 4 when gripping the product stack 1. To clarify this, the conveying direction 71 is depicted.

[0131] exist Figure 4b In the example shown, the gripping mechanism 20 also grips the product stack 1 swung vertically from the side 4 , ie, for example, from the rear side.

[0132] exist Figure 4a and 4bCan see in the comparison between: either one pair of corners 5 ("upper left" and "lower right") or another pair of corners 5 ("lower left" and "upper right") can be grabbed. The selection of the corners can be made in a computer-controlled manner and according to the discharge pattern.

[0133] exist Figure 4c In the example shown, the gripping mechanism 20 grips the product stack 1 swung vertically from the side 3 , ie, for example, from the front.

[0134] exist Figure 4d In the example shown, the gripping mechanism 20 also grips the product stack 1 swung vertically from the side 3 , ie, for example, from the front.

[0135] exist Figure 4c and 4d In the comparison between them, it can be seen that either one pair of corners 5 ("upper left" and "lower right") or another pair of corners 5 ("lower left" and "upper right") can be grasped. The selection of the corners can be made in a computer-controlled manner and according to the discharge pattern.

[0136] Whether product stack 1 is gripped from side 3 or side 4, and here, whether one pair of corners 5 or another pair of corners 5 is gripped, depends on how product stack 1 is to be placed: whether it should be placed inverted or uninverted, and whether it should be placed rotated or not. This, in turn, depends on the selected discharge pattern and the corresponding discharge position within that pattern. Digital computer 80 controls the gripping and, therefore, the appropriate movements of robot 10 based on the discharge pattern and discharge position. The aforementioned sides and corners are selected accordingly.

[0137] After gripping and during movement 130 (particularly between the two partial movements 130a and 130b) and preferably before depositing (method step 152), the product stack 1 is pivoted by an effective angle α2, either further (method step 122) or reverse (method step 123). By further pivoting, the product stack 1 is preferably deposited in an inverted state (method step: inverting 140); by reverse pivoting, the product stack 1 is preferably deposited without being inverted (method step: not inverting 141).

[0138] Figure 5 A preferred embodiment of a gripping mechanism is shown, in which the step of "loosening 150 the product stack 1" of a preferred embodiment of the method according to the invention is carried out. A perspective view is shown.

[0139] exist Figure 5The figure shows a gripping mechanism 20 having the two grippers 30 and 32 described above. These grippers hold the product stack 1 at 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 size of the product stack 1 so that the product stack 1 hangs loose (method step: loosening 150). When the product stack 1 is placed on the transport carrier 62 or on an already formed transport stack 64, the loose diagonal 8 first contacts the carrier 62 (or transport 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 moving in mutually perpendicular directions 58. This opening and removal can be controlled by a digital computer 80.

[0140] Figure 5 The two immovable gripper claws 31a and 33a are shown, which have two corresponding stop elements 35 (in particular stop surfaces 35). The two support elements 34 (below the product stack 1 and thus below) Figure 5 31b and 33b) are preferably oriented horizontally when placing the product stack 1, while each of the two (ie four) stop elements 35 is preferably oriented vertically. The opening and closing of these grippers (or the movement of these movable gripper claws 31b and 33b) is achieved along direction 38.

[0141] Figure 5 A sensor 66 is shown, preferably on one of the immovable ("lower") gripper jaws 31a and 33a. This sensor 66 can measure the distance (or height 65) relative to the carrier 62 or to the already formed transport stack 64 and transmit the measured values to a digital computer 80, which can then control precise and, in particular, collision-free placement.

[0142] Figure 5 Two further grippers 36 (in particular suction grippers 36 ) are shown. These grippers 36 are preferably used to grip and hold the intermediate layer 67 .

[0143] Figure 6a and 6b A preferred embodiment of the discharge pattern is shown.

[0144] Figure 6a and 6b By way of example, a top view is shown of twelve product stacks 1. These product stacks 1 are arranged in the order 1 to 12.

[0145] The gripping mechanism 20 (or flange 26) is shown as a circle on each corner of each product stack 1. Two grippers 30 and 32 are shown on each of the two corners. Arrows 58 each indicate the direction in which the opened grippers are moved to release the product stack 1.

[0146] The product stack 1 is placed in the discharge position 60 according to the respectively selected discharge pattern 61 , which allows the grippers 30 and 32 to be moved in a collision-free manner in the horizontal plane relative to the previously placed product stack 1 .

[0147] As in Figure 6a and 6b As can be seen in FIG. 6 , so-called “chimneys” 68 , ie free spaces in the discharge pattern 61 , can be produced.

[0148] Figure 6a and 6b The comparison of the above shows that the discharge pattern 61 can be changed. Preferably, the discharge pattern 61 is changed in each new horizontal plane (or layer of the transport stack 64 to be formed). The stability of the transport stack 64 can be improved thereby.

[0149] Figure 7 A preferred embodiment of a delivery stack 64 produced by the step "placing" is shown. A side view is shown.

[0150] On the transport carriage 62, a first layer 63 of the product stack 1 is placed according to a first discharge pattern. Intermediate layers 67 are placed on this first layer 63. These intermediate layers 67 can be removed from adjacent intermediate layer stacks by the robot 10. A suction gripper 36 can be used for this purpose. A second layer 63 of the product stack 1 is placed on the intermediate layer 67 according to a second discharge pattern (preferably different from the first discharge pattern). As can be seen, the edges of the product stacks 1 can be horizontally offset 69 relative to one another. This improves the stability of the transported stack 64.

[0151] When approaching the transport stack 64 , the gripping mechanism 20 can measure the vertical distance 65 by means of a sensor 66 , and the digital computer 80 can control the collision-free movement of the gripping mechanism 20 using this measured value.

[0152] Figure 8 Optional steps of the method are shown by dashed lines.

[0153] The process ( 100 ) may include producing a folded product 2 .

[0154] Conveying ( 101 ) may include conveying the product stack 1 along a conveying direction 71 .

[0155] Separating ( 102 ) may include separating the product stack 1 along the conveying direction 71 .

[0156] Stopping ( 103 ) may include stopping the product stack 1 while using the swing mechanism 40 .

[0157] The oscillation ( 110 ) may comprise oscillating the product stack 1 by means of the oscillating mechanism 40 , in particular oscillating it by α1 =90°.

[0158] Orientation (111) may comprise orienting the product stack 1, preferably around a vertical axis, for which purpose an orienting element 41 is used.

[0159] The linear pushing (112) may include linear pushing of the product 2. A linear pusher 42 may be used for this purpose.

[0160] The shaking ( 113 ) may include shaking the product stack 1 and then the product 2 .

[0161] Ventilation (114) may include ventilating the product stack 1. Ventilation may be achieved by shaking.

[0162] The change (115) can include changing the fanned-out product stack 1 into a non-fanned-out product stack 1. For this purpose, orientation elements 41 can be used. These orientation elements 41 can each be formed by a surface (for example a sheet metal part with two bent edges).

[0163] The transfer (120) can be carried out by means of the gripping mechanism 20 (and in particular by means of its grippers 30 and 32). During the transfer, the product stack 1 can be transferred from the pivoting mechanism 40 to the gripping mechanism 20. The transfer can be carried out from the side 3 or the side 4.

[0164] Holding ( 121 ) can be achieved by means of closed grippers 30 and 32 .

[0165] The further pivoting ( 122 ) can be achieved by means of the robot arm 11 , in particular the further pivoting by α2 =90°.

[0166] The return oscillation (123) can be realized by means of the robot arm 11, in particular the return oscillation α2 =-90°.

[0167] Preferably, the oscillation is continued or reversed, depending on the discharge pattern.

[0168] The movement ( 130 ) is preferably carried out using the robot 10 . The partial movement ( 130 a ) and the partial movement ( 130 b ) are preferably carried out using the robot 10 .

[0169] The calculations (131) are preferably performed using a digital computer 80. The movements of the robot 10 may be calculated.

[0170] The control (132) is preferably implemented using a digital computer 80. The movement of the robot 10 can be controlled.

[0171] The tilting ( 140 ) can be performed by means of the robot arm 11 , in particular α1 + α2 = 180°.

[0172] No turning (141) can be achieved by means of the robot arm 11, in particular α1+α2=0°.

[0173] The rotation ( 142 ) can be achieved by means of the robot arm 11 .

[0174] The vertical loosening (150) can be achieved by adjusting the spacing between the two grippers 30 and 32.

[0175] The distance 65 and / or the height 65 can be measured ( 151 ) using the sensor 66 .

[0176] The depositing or stacking (152) can be carried out by means of the robot arm 11. In this case, in particular a predetermined discharge pattern 61 can be taken into account.

[0177] Reference Signs List

[0178] 1Product stack

[0179] 2. Printed products, especially folded printed products

[0180] 3 sides

[0181] 4 Opposite side

[0182] 5 edges and corners

[0183] 6 diagonally opposite corners

[0184] 7 diagonal

[0185] 8 Diagonal lines that cause vertical loosening

[0186] 10 devices, especially robots

[0187] 11 Robotic arm or articulated arm

[0188] 12 Axis

[0189] 13 Rotation axis

[0190] 14 Swing axis

[0191] 15 sports or sections

[0192] 16 minutes of sports or partial sections

[0193] 20 Grasping mechanism

[0194] 21 First load-bearing arm

[0195] 22 first longitudinal direction

[0196] 23 Second carrying arm

[0197] 24 Second longitudinal direction

[0198] 25 linear drives

[0199] 26 Flange

[0200] 30 First gripper, especially a clamp-type gripper

[0201] 31 First pair of gripper claws

[0202] 31a Non-movable gripper claw

[0203] 31b Movable gripper claw

[0204] 32 Second gripper, especially a clamp-type gripper

[0205] 33 Second pair of gripper claws

[0206] 33a Non-movable gripper claw

[0207] 33b Movable gripper claw

[0208] 34 supporting element, especially supporting surface

[0209] 35 stop element, in particular two stop surfaces

[0210] 36 Another gripper, in particular a suction gripper

[0211] 37 linear drives

[0212] 38 Movement of the gripper when opening / closing

[0213] 39 Hair dryer

[0214] 40 Swing mechanism

[0215] 41 Directional Components

[0216] 42 linear pusher (Geradstoβer)

[0217] 43 Grab

[0218] 50 levels

[0219] 51 horizontal axis

[0220] 52 Horizontal position

[0221] 53 horizontal plane

[0222] 54 vertical

[0223] 55 vertical axis

[0224] 56 Vertical Position

[0225] 57 vertical plane

[0226] 58 Two perpendicular directions

[0227] 60 unloading position

[0228] 61 Unloading Style

[0229] 62 bottom layer, especially the bracket

[0230] 63 layers of product stacks that have been placed

[0231] 64 Conveyor stack

[0232] 65 Height

[0233] 66 Sensors, in particular interval sensors or cameras

[0234] 67 Middle Layer

[0235] 68 Chimney Department

[0236] 69 Dislocation

[0237] 70 Post-press processing machines, especially folding machines

[0238] 71 Conveying direction

[0239] 72 Receiver

[0240] 73 protected areas

[0241] 74 Location of post-press processing machines

[0242] 75 Drive

[0243] 76 rollers

[0244] 80 Digital Computer

[0245] 81 Network

[0246] 100 processing

[0247] 101 Transportation

[0248] 102 Separation

[0249] 103 Stop

[0250] 110 Swing

[0251] 111 Directional

[0252] 112 Straight Push

[0253] 113 Shake

[0254] 114 Ventilation

[0255] 115 Change

[0256] 120 Undertake

[0257] 121 Keep

[0258] 122 Continue to Swing

[0259] 123 Return Swing

[0260] 130 Sports

[0261] 130a Minutes of exercise

[0262] 130b points movement

[0263] 131 Calculation

[0264] 132 Control

[0265] 140 Flip

[0266] 141 Not flipped

[0267] 142 Rotation

[0268] 150 makes it loose

[0269] 151 Measurement

[0270] 152 Place or stack

[0271] α1 (first) effective angle

[0272] α2 (second) effective angle

Claims

1. A method for moving a stack of products by means of a robot, in, The robot (10) comprises an articulated arm (11) and at least one gripper (30, 32) for the product stack (1) arranged on the articulated arm, and wherein the product stack (1) is turned over in an optional manner, It is characterized by: The movement (130, 130a, 130b) is terminated at a selected discharge position (60) from a plurality of discharge positions (60) of a predetermined discharge pattern (61), unloading the product stack (1) onto the bottom layer (62) at the selected unloading location (60), The product stack (1) is maintained so that the product stack sags diagonally (150); and when the product stack sags diagonally is unloaded, the sag portion (8) is first brought into contact with the bottom layer.

2. The method for moving a stack of products by means of a robot according to claim 1, The product stack (1) is unloaded onto a tray at a selected unloading location (60).

3. Method for moving a product stack by means of a robot according to claim 1 or 2, It is characterized by: The discharge pattern (61) is stored in a digital computer (80) or downloaded to the digital computer (80) from another digital computer via a network (81); and The movement (130, 130a, 130b) is controlled by the digital computer.

4. Method for moving a stack of products by means of a robot according to claim 3, It is characterized by: The discharge pattern (61) is calculated and / or selected by the digital computer (80) based on at least one of the following parameters: - the dimensions of the product stack (1); - the dimensions of the bottom layer (62); In the case of a product stack formed from folded products (2): the position of the fold edge relative to the base layer and / or the configuration of the fold edge according to the folding method.

5. Method for moving a stack of products by means of a robot according to claim 1 or 2, It is characterized by: A plurality of product stacks (1) are successively moved, optionally turned, optionally rotated in a horizontal plane, and discharged at respectively selected discharge positions (60) from a plurality of discharge positions (60) of a predetermined discharge pattern (61).

6. Method for moving a stack of products by means of a robot according to claim 1 or 2, It is characterized by: The product stack (1) is swung (110) by an effective angle α1≠180°, and The product stack (1) is then swung further (122) by an effective angle α2 = 180° - α1 or swung back (123) by an effective angle α2 = - α1.

7. Method for moving a stack of products by means of a robot according to claim 1 or 2, It is characterized by: using two grippers (30, 32); and When the product stack (1) is placed or unloaded (152), the gripper moves away from the product stack in two mutually perpendicular directions (58) in a horizontal plane.

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