Method for stacking products by means of a robot

Abstract

The present 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) provided on the articulated arm, and the product stack (1) is turned (140) in a selectable manner, characterized in that the product stack (1) is swung (110) by an effective angle α1≠180°, and then the product stack (1) is swung (122) by an effective angle α2 = 180° - α1 or swung back (123) by an effective angle α2 = -α1. The present invention can advantageously achieve: automated operation and in particular unloading of the product stack with or without turning.

Description

Technical Field

[0001] The present invention relates to a method for stacking and moving products with 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) product stacks composed of preferably printed and folded flat products (preferably made of paper, cardboard, cardboard, plastic, metal, or composite materials) by means of manipulators (especially robots or articulated arm robots).

[0003] It is known to manually transport product stacks (such as folded brochures) from the receiving device of a post-press machine (such as a folding machine) to a carriage and unload them there according to a known unloading pattern. This kind of work has a high physical workload because, for example, four to five product stacks must be moved per minute. It is also known to use a robot with an articulated arm for this purpose: 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 product stack in Fig. 11d, and discloses the vertical relaxation of the product stack in Fig. 9. The grippers shown in both cases belong to two separate robots.

[0005] Document US2006263196A1 discloses rotating and flipping a stack with a robot gripper.

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

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

[0008] Document DE202019106975U1 discloses a manipulating mechanism for transferring a product stack, wherein the manipulating mechanism includes a grasping mechanism that is movable in three dimensions. The grasping 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 in particular enables the automatic movement of product stacks and their unloading, with or without inversion.

[0010] The solution according to the present invention lies in:

[0011] This object is solved according to the present invention by a method according to an embodiment of the present invention.

[0012] Advantageous and thus preferred refinements of the present invention result from the specific implementation, the description, and the drawings.

[0013] The present 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 can be inverted in a selectable manner. The present invention is characterized in that the product stack is swung at an effective angle α1≠180°, and then the product stack is swung at an effective angle α2 = 180° - α1 or swung back at an effective angle α2 = -α1.

[0014] The present invention advantageously enables the automatic movement of product stacks and their unloading, with or without inversion.

[0015] According to the present invention and advantageously, the product stack is swung in two steps and can be inverted in a selectable manner. 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° inversion is achieved according to the present invention. If α1 and α2 are 90° and -90°, for example, no inversion is achieved according to the present invention.

[0016] This two-step swinging method according to the present invention can advantageously include intermediate steps, for example, shaking (Rütteln) and / or straight pushing (Geradstoβen) of the product stack. Furthermore, the two-step swinging method according to the present invention can advantageously perform the above two steps at different positions, for example, by the robot moving between them. Additionally, the two-step swinging method according to the present invention advantageously enables the execution of the above two steps using different devices (for example, using a robot and a swinging mechanism different from the robot).

[0017] 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 two swings of +45° each, or by swinging -270°. In the present invention, instead of the term "effective angle", the term "angle" can also be simply used.

[0018] The term "alternatively (wahlweise)" means that the stack of products is either flipped or not flipped. This selection can preferably be implemented by a digital computer and can be made by a digital computer, especially according to the so-called unloading pattern (Absetzmuster). The term "alternatively" should also mean that the method can be continuously executed multiple times, one stack of products each time, and it can also be achieved here that at least one stack of products is flipped while at least one stack of products is not flipped.

[0019] Here, an improvement of the present invention lies in:

[0020] The preferred improvement of the present invention (abbreviation: improvement) is described below.

[0021] A feature of an improvement can be that the swinging with an effective angle α1 is achieved by means of a swinging mechanism different from a robot. The swinging mechanism can be assigned to and especially arranged on the receiving device of a post-printing processing machine (especially a folding machine). The swinging mechanism can include a swingable gripper for the stack of products. The swinging mechanism can be controlled by a digital computer. The swinging mechanism preferably swings the stack of products by α1 = 90°.

[0022] A feature of an improvement can be that it swings with an effective angle α1 before the movement, or rather the movement starts from the already swung state of the stack of products. The movement is preferably achieved by means of a robot arm.

[0023] A feature of an improvement can be that it swings around a horizontal axis with an effective angle α1. This axis can be oriented parallel to the conveying direction of the receiving device of a post-printing processing machine (especially a folding machine). The stack of products is preferably grasped and held before the swinging.

[0024] A feature of an improvement can be that the stack of products is swung out from the horizontal state when swinging with an effective angle α1. In this horizontal state, the individual products of the stack of products (for example, folded sheets) are preferably arranged horizontally.

[0025] A feature of an improvement can be that the stack of products is swung into the vertical state when swinging with an effective angle α1. In this vertical state, the individual products of the stack of products preferably "stand".

[0026] A feature of an improvement can be that the stack of products is oriented outside the horizontal state and / or pushed linearly in one direction and / or pushed linearly in two mutually perpendicular directions and / or shaken and / or ventilated; and / or the fan-shaped unfolded The product stack becomes a product stack that no longer unfolds in a fan shape ("retracts"). At the same time, the product stack can be located in a swinging mechanism, for example, in its gripper. The gripper can be easily opened here, especially for ventilation. For linear pushing and / or retracting The mechanism can include two mutually movable and perpendicular surfaces (such as preferably plate members with lateral flanges) relative to each other. The mechanism can be opened before swinging and closed after swinging. For this purpose, these surfaces can move away from each other and towards each other. For shaking, a pneumatic cylinder can be provided. Finally, the mechanism (or its respective surfaces) preferably moves to the open position so as to be able to receive the product stack.

[0027] A feature of an improved solution can be that the product stack rotates about a vertical axis in a vertical position, preferably by 180°. This advantageously enables: the product stack to be grasped from the same side both in the case of optionally flipping and in the case of optionally not flipping in the vertical position. This rotation can be achieved by means of a swinging mechanism. The swinging mechanism can include a rotation drive for this purpose. Such a rotation drive can be controlled by a digital computer.

[0028] A feature of an improved solution can be the reception of the product stack is achieved from one side of the product stack in the case of flipping; the reception of the product stack is achieved from the same side of the product stack in the case of not flipping. The reception from one side or the other can be implemented by means of the articulated arm of a robot. The selection of the opposite side can be achieved in a computer-controlled manner. The pre-given unloading pattern can be taken into account here.

[0029] A feature of an improved solution can be that the robot receives the product stack in a vertical position. The robot (and especially its gripper) can move towards the product stack in a computer-controlled manner for this purpose, for example, from above and / or from one side.

[0030] A feature of an improved solution can be that the product stack moves in a vertical position, at least in part of the above-mentioned movement section. 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).

[0031] A feature of an improved solution can be that the robot receives the product stack from the swinging mechanism and then moves it. The reception 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.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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).

[0036] 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.

[0037] 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.

[0038] 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.

[0039] The features of an improved solution may lie in that the effective angle α1 = 90°, and the effective angle α2 = -90°, and it swings back with α2. In the case of the return swing, the swing with α1 and the swing with α2 are preferably achieved along opposite swing directions. Here, the product stack "in total" does not turn over.

[0040] The features of an improved solution may lie in that the product stack is held by at least two grippers during movement.

[0041] The features of an improved solution may lie in that the product stack is held form - closed and / or force - closed during movement.

[0042] The features of an improved solution may lie 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, edges can be selected, for example, such that these edges have a large spacing from each other and / or these edges are very approximately diagonally opposite.

[0043] The features of an improved solution may lie in that two diagonally opposite edges or two other diagonally opposite edges are held in a selectable manner. The selection of the edges can be achieved in a computer - controlled manner. Here, a pre - given unloading pattern can be taken into account. For this purpose, the gripping mechanism on the robot arm is preferably rotated.

[0044] The features of an improved solution may lie in that the product stack is held such that the product stack sags. For this purpose, the spacing of the grippers 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.

[0045] The features of an improved solution may lie in that the product stack is held such that the product stack sags diagonally. Thereby, the product stack can be unloaded controllably and self - fixed with the diagonal as the "deepest point". For this purpose, the product stack can be held on the diagonally opposite edges.

[0046] A particularly improved solution with regard to unloading lies in:

[0047] In the following, further preferred improvements of the present invention (abbreviation: improvements) are described.

[0048] An improvement may be characterized in that the above movement ends at a selected unloading position among a plurality of unloading positions of a pre-given unloading pattern. Such an unloading pattern may be stored in a digital computer or in a network connected thereto. Multiple unloading patterns may be stored, for example, in a database. The selection of the unloading position (and / or the order of the unloading positions for successively moving product stacks) can be achieved in a computer-controlled manner. In the case where the product stack forms a conveying stack, an unloading pattern can be selected for each horizontal state (or horizontal layer), and in particular, different unloading patterns can be selected for two successive states (or two successive layers).

[0049] An improvement may be characterized in that the product stack is unloaded onto the bottom layer (Unterlage) at the selected unloading position, preferably onto a support.

[0050] An improvement may be characterized in that the product stack is held such that the product stack sags vertically on the diagonal; and in the case of unloading a product stack that sags vertically on the diagonal, its sagging part (Durchhang) is first brought into contact with the bottom layer.

[0051] An improvement may be characterized in that the unloading pattern is stored in a digital computer or downloaded from another digital computer to this digital computer via a network; the above movement is controlled by this digital computer.

[0052] An improvement may 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 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.

[0053] An improvement may be characterized in that multiple product stacks are successively moved, selectively flipped, selectively rotated in a horizontal plane, and unloaded at selected unloading positions respectively among a plurality of unloading positions of a pre-given unloading pattern. Here, a computer-controlled robot with articulated arms and a grasping mechanism can be used.

[0054] Regarding a particularly improved solution in terms of grasping:

[0055] In the following, further preferred improvements of the present invention (abbreviation: improvements) are described.

[0056] An improvement may be characterized in that two grippers are used; and when placing (or unloading) the product stack, these grippers are removed from the product stack in two mutually perpendicular directions in a horizontal plane.

[0057] An improvement may be characterized in that, when placing (or unloading) the product stack, these grippers open in a vertical plane. Here, the gripper jaws of the grippers can move, preferably, the gripper jaws located above the product stack can move upward. The other gripper jaws (preferably the one located below the product stack) can be stationary.

[0058] An improvement may be characterized in that each product stack is moved to a separately selected unloading position in the unloading pattern such that in the unloading position these grippers can be removed from the product stack without collision in a horizontal plane relative to the already unloaded product stack.

[0059] The improvement lies in:

[0060] The following describes further preferred improvements of the present invention (abbreviation: improvement).

[0061] An improvement may be characterized in that the product stack is moved from the feeder of a post - processing machine for printed products to a carrier or to one of a plurality of carriers. In the latter case, continuous operation can be achieved.

[0062] An improvement may be characterized in that the product stack is moved from the feeder of a post - processing machine for printed products (such as a folder, a saddle - stitcher or a perfect - binder) to a carrier or to one of a plurality of carriers.

[0063] An improvement may be characterized 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 individual drivable rollers can be driven or stopped accordingly.

[0064] An improvement may be characterized in that the robot can be applied in a movable manner at multiple positions of a single post - processing machine or on multiple post - processing machines. For this purpose, the robot can be supported on rollers and / or tracks.

[0065] An improvement may be characterized in that the product stack is formed by folded and / or die - cut printed products.

[0066] An improvement may be characterized in that a plurality of product stacks are stacked (übereinandergestapelt) on a conveying carrier in a conveying stack horizontally offset from each other and in a plurality of horizontal planes arranged one above the other, or a conveying stack is formed or constructed accordingly. 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.

[0067] The features of an improved solution may lie in that a sensor provided on the robot detects the height of the conveyed stack. The sensor may be provided on the grasping mechanism of the robot. A plurality of sensors may be provided. The height can be determined absolutely, for example, measured from the upper edge of the bracket or from the ground, or determined relatively as the distance from the sensor.

[0068] The features of an improved solution may lie in that, as the height, the following are detected: a single height value, a plurality of height values at different horizontal positions, or a height change curve

[0069] The features of an improved solution may lie in that, as the sensor, an interval sensor for measuring height is used, or a camera with a digital image processing module for calculating the height from the camera image is used.

[0070] The features of an improved solution may lie in that the robot arm moves collision-free over a conveyed stack that is only partially constructed, wherein the digital computer takes into account the detected height when controlling the movement of the robot arm.

[0071] The features of an improved solution may lie in that the robot removes a single intermediate layer from a stack and places it on a corresponding plane. These intermediate layers may be made of cardboard. The placement of the intermediate layers can be achieved in a computer-controlled manner. The pre-given unloading pattern and / or stacking pattern can be taken into account here.

[0072] The features of an improved solution may lie in that the intermediate layer is held by suction. For this purpose, suction grippers may be provided on the grasping mechanism of the robot. A plurality of such suction grippers may be used.

[0073] The features of an improved solution may lie in that the above-mentioned movement is achieved fully automatically, in accordance with the selected unloading pattern and / or stacking pattern and in coordination with at least the production speed of the post-printing machine.

[0074] The features of an improved solution may lie in that the movement of the robot arm is achieved within a protected area.

[0075] 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 are used.

[0076] Regarding the device for implementing the method, a particularly improved solution lies in:

[0077] In the following, further preferred improvements of the present invention (abbreviation: improvement) are described.

[0078] An improved version of the method according to the present invention may be characterized in that a device for moving a stack of products by means of a robot is used, wherein the robot includes an articulated arm, and a first gripper for the stack of products is provided on the articulated arm. The method is characterized in that a gripping mechanism is provided on the articulated arm, the gripping mechanism including a first gripper and a second gripper, wherein the first gripper and the second gripper are positioned relative to each other.

[0079] The device itself can be another aspect of the present invention:

[0080] A device for moving a stack of products by means of a robot, wherein the robot includes an articulated arm, and a first gripper for the stack of products is provided on the articulated arm. The device is characterized in that a gripping mechanism is provided on the articulated arm, the gripping mechanism including a first gripper and a second gripper, wherein the first gripper and the second gripper can be positioned relative to each other.

[0081] Advantageously, the device according to the present invention and its application can achieve: automatically moving the stack of products and discharging them, especially with or without being turned over.

[0082] A particular advantage of the present invention may be that stacks of products of different sizes or different specifications can be moved and discharged, especially in a selectable manner, with or without being turned over.

[0083] The following describes further preferred improvements of the present invention (abbreviation: improvements). These improvements can also be preferred improvements of the device itself of other aspects of the present invention.

[0084] An improvement may be characterized in that the above two grippers can be positioned for a pre-given specification of the product or the stack of products, preferably in a computer-controlled manner. These grippers can be movable (preferably linearly movable) for positioning. This positioning is preferably achieved in a computer-controlled manner.

[0085] An improvement may be characterized in that the above two grippers can be positioned for the two ends of a selected diagonal of a selected specification. This positioning is preferably achieved in a computer-controlled manner.

[0086] An improvement may be characterized in that the first gripper is configured as a first clamping gripper having a first pair of gripper jaws, and the second gripper is configured as a second clamping gripper having a second pair of gripper jaws.

[0087] The features of an improved solution may lie in that the above two pairs of gripper claws each include immovable gripper claws and gripper claws that are linearly movable relative to the immovable gripper claws respectively. A linear drive may be provided, preferably an electric drive with a threaded spindle. These immovable gripper claws are not completely immovable by nature: these immovable gripper claws can move through the movement of the robot, the gripping mechanism, and / or the gripper. These immovable gripper claws only do not move when the gripper opens and closes, or move only insignificantly compared to the movable gripper claws.

[0088] The features of an improved solution may lie in that each of these immovable gripper claws includes a horizontally extending bearing element and at least one vertically extending stop element each.

[0089] The features of an improved solution may lie in that each of the above two immovable gripper claws includes a horizontally extending bearing surface as the bearing element and two vertically extending and mutually perpendicular stop surfaces as the stop elements each. All these surfaces can be perpendicular to each other.

[0090] The features of an improved solution may lie in that the product stack is held by the gripper claws in a force-locking and / or form-locking manner.

[0091] The features of an improved solution may 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.

[0092] The features of an improved solution may lie in that at least one additional gripper is provided on the gripping mechanism, and this 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.

[0093] The features of an improved solution may lie in that at least one distance sensor and / or at least one camera is provided on the gripping mechanism.

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

[0095] The features of an improved solution may lie in that the gripping mechanism includes a second bearing arm, and the second gripper is arranged on the second bearing arm in a linearly movable manner along the longitudinal direction of the second bearing arm.

[0096] In order to move these grippers along these bearing arms, linear drives may be provided on the bearing arms respectively, preferably electric drives with threaded spindles. The linear drives can be electric. The bearing arms can have a length related to the largest-sized product stack to be moved.

[0097] An improvement may be characterized in that the first load-bearing arm and the second load-bearing arm are arranged on the gripping mechanism perpendicular to each other. These load-bearing arms can form an X-Y axis system for a gripper with adjustable specifications. The movable gripper jaws of these grippers can form a Z axis perpendicular to the above-mentioned X-Y axes.

[0098] An improvement may be characterized in that the two linearly movable gripper jaws can move perpendicular to the corresponding load-bearing arms.

[0099] An improvement may 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 a vertical axis and / or for the unloading of the product stack that has already been rotated in the horizontal plane.

[0100] An improvement may be characterized in that the gripping mechanism is pivotably arranged on the robot arm around a pivot axis perpendicular to the rotation axis. The pivot axis is preferably used for the pivoting of the product stack around a horizontal axis and / or for the unloading of the product stack that can be optionally flipped or not flipped with reference to the horizontal plane.

[0101] An improvement may be characterized in that the articulated arm includes six axes (preferably rotation axes).

[0102] An improvement may be characterized in that the robot can move horizontally relative to one or more post-printing machines that produce the product stack, for example, on a track or on rollers.

[0103] 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 the improvement solutions and in the following part of the embodiments can be combined with each other arbitrarily to form further advantageous improvement solutions of the present invention.

[0104] An alternative is:

[0105] For an alternative to the above two-step pivoting method, this task can be solved by means of a one-step pivoting method. Here, in order to flip the product stack in an optional manner, the gripping mechanism of the articulated arm robot preferably grabs from below and pivots through an effective angle of 180° in the horizontal orientation, for example, during the movement to the bracket. If flipping is not required in an optional manner, then the product stack can preferably be grabbed from above in the horizontal orientation. Brief Description of the Drawings

[0106] Figures 1 to 8 The preferred embodiments of the present invention and its improvement solutions are shown. Corresponding features are provided with the same reference numerals in the drawings. Some of the repeated reference numerals in the drawings are omitted for the purpose of clarity. Detailed implementation manners

[0107] Figure 1 Shows a preferred embodiment of the device according to the present invention. The device preferably includes a robot 10 for performing steps of a preferred implementation form of the method according to the present invention. Attached Figure 1 The view shown is a top view seen from above.

[0108] The post-press processing machine 70 (preferably a folding machine), 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) in the form of a product stack 1 on the stacker 72 along the conveying direction 71. The operation (especially the conveying) of the stacker can be controlled by a digital computer 80. The product stack 1 preferably includes a plurality of products stacked one above the other.

[0109] The digital computer 80 is preferably connected to a network 81, and the digital computer 80 can control the post-press processing 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.

[0110] 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.

[0111] 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 away 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 a conveying bracket 62. There, the product stack 1 is placed and preferably discharged at the discharge position 60 according to a discharge 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.

[0112] A swinging mechanism 40 is preferably provided at the end of the stacker 72. The swinging mechanism 40 can swing the product stack 1 from a horizontal position 50 (or horizontal plane 53 or horizontal state 52) to a vertical position 54 (or vertical plane 57 or vertical state 56). The swinging mechanism 40 can include two preferably horizontally movable guiding elements 41 and / or linear pusher 42 for the product stack 1. These guiding elements 41 and / or linear pusher 42 can be configured as surfaces (e.g., plates).

[0113] The movement of the robot 10 (especially the movement 15 and / or the sub-movement 16) and / or the movement of the swing mechanism 40 (especially the swing) can be controlled by a digital computer 80.

[0114] Figure 2 A preferred embodiment of the stacker 72 of the post-printing 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 stacks 1 composed of the products 2 stacked on top of each other. Here, these product stacks 1 can be separated from each other along the conveyance direction 71. The products 2 and thus also the formed product stacks 1 preferably have four corners 5. The die-cut products can also have a plurality of corners. If it concerns folded products, then their folding backs (Falzrücken) are preferably parallel to the conveyance direction 71.

[0115] Figure 3a and 3b A preferred embodiment of the stacker 72 is shown, which preferably includes a swing mechanism 40, wherein each step of a preferred implementation form of the method according to the invention is carried out. Perspective views are respectively shown.

[0116] Figure 3a and 3b The end of the folding machine 70 and the stacker 72 are shown, on which the product stack 1 is conveyed along the conveyance direction 71 until the swing mechanism 40 (method step: conveyance 101). The product stack 1 and thus the product 2 are preferably in a horizontal position 52 before the swing.

[0117] The swing mechanism 40 preferably includes a gripper 43, for example, rods that can move 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 thereof. 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.

[0118] Figure 3a and 3b The robot 10 and its articulated arm 11 are shown partially. The robot 10 is preferably movable horizontally on the ground and can thus be positioned at different locations. The robot 10 can, for example, be supported on the rollers 76. For example, tracks can be provided.

[0119] Figure 3a and 3b The horizontally movable orientation element 41 and / or the linear pusher 42 are preferably shown.

[0120] In Figure 3a and 3b In the comparison between and, a 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.

[0121] Figure 3a and 3b Sides 3 and 4 are shown. 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 choice of the opposite side can be achieved in a computer-controlled manner according to the unloading pattern.

[0122] The swing 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).

[0123] Figures 4a to 4d A preferred embodiment of the robot-guided grasping mechanism 20 is shown, in which the respective steps of the preferred implementation form of the method according to the invention are carried out. Perspective views are shown respectively.

[0124] Figures 4a to 4d The flange 26 of the robot 10 is shown. The grasping mechanism 20 for the product stack 1 is preferably arranged 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: continued 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 respectively, or can also be achieved by three axes respectively.

[0125] The grasping mechanism 20 preferably includes two carrier arms: a first carrier arm 21 and a second carrier arm 23. These carrier arms are preferably perpendicular to each other. A first gripper 30 is preferably movably arranged along the first longitudinal direction 22 on the first carrier arm 21. A second gripper 32 is preferably movably arranged along the second longitudinal direction 24 on the second carrier arm 23. These grippers can be driven by a linear drive 25 for their size-related adjustment.

[0126] The first gripper 30 preferably comprises a first pair of gripper jaws 31, said first pair of gripper jaws 31 comprising a non-movable gripper jaw 31a and a movable gripper jaw 31b. The movable gripper jaw 31a can be driven by a linear drive 37. The second gripper 32 preferably comprises a second pair of gripper jaws 33, said second pair of gripper jaws 33 comprising a non-movable gripper jaw 33a and a movable gripper jaw 33b. The movable gripper jaw 33a can be driven by the linear drive 37. These non-movable gripper jaws can each comprise a receiving element 34 (preferably a receiving surface). These movable gripper jaws are used to open and close the gripper.

[0127] These grippers 30 and 32 preferably grip the product stack 1 consisting of products 2 at its corners 5 and particularly preferably at the diagonally opposite corners 6 (see the diagonal 7 in Figure 5 .

[0128] In Figure 4a the illustrated example, the gripping mechanism 20 grips the product stack 1 swung into the vertical 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.

[0129] In Figure 4b the illustrated example, the gripping mechanism 20 also grips the product stack 1 swung into the vertical from side 4 (i.e. for example from the rear side).

[0130] 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 choice of corners can be made in a computer-controlled manner and according to the unloading pattern.

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

[0132] In Figure 4d the illustrated example, the gripping mechanism 20 also grips the product stack 1 swung into the vertical from side 3 (i.e. for example from the front side).

[0133] In Figure 4c the comparison between 4d it can again 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 choice of corners can again be made in a computer-controlled manner and according to the unloading pattern.

[0134] Whether the product stack 1 is picked up from side 3 or side 4, and whether a pair of edges 5 or another pair of edges 5 is picked up here depends on how the product stack 1 should be placed: whether the product stack 1 should be placed upside down or not, and whether the product stack 1 should be rotated or not. This in turn depends on the selected unloading pattern and the corresponding unloading position within that pattern. The digital computer 80 controls the grasping and thus the suitable movement of the robot 10 according to the unloading pattern and the unloading position. The above-mentioned side and the above-mentioned edges are accordingly selected.

[0135] After grasping and during the movement 130 (especially between the two sub-movements 130a and 130b) and preferably before placement (method step 152), the product stack 1 is swung at an effective angle α2, either continuously (method step: continuous swing 122) or in a return swing (method step: return swing 123). By continuous swing, the product stack 1 is preferably placed after being turned over (method step: turn over 140); by return swing, it is preferably placed without being turned over (method step: not turned over 141).

[0136] 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.

[0137] At Figure 5 The grasping mechanism 20 with the above two grippers 30 and 32 is shown. These grippers hold the product stack 1 on the diagonally opposite edges 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: make it loose vertically 150). In the case where the product stack 1 is placed on the conveying bracket 62 or on the already formed conveying stack 64, the vertically loosened diagonal 8 first contacts 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.

[0138] Figure 5 The above two non-movable gripper claws 31a and 33a are shown, which have two corresponding stop elements 35 (especially stop surfaces 35). The above two supporting 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 claws 31b and 33b) is achieved along the direction 38.

[0139] Figure 5 A sensor 66 is shown, 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 this digital computer 80 can control an exact and especially collision-free placement.

[0140] Figure 5 Two further grippers 36 (especially suction grippers 36) are shown. These grippers 36 are preferably used for gripping and holding the intermediate layer 67.

[0141] Figure 6a and 6b A preferred embodiment of the discharge pattern is shown.

[0142] Figure 6a and 6b Top views of twelve product stacks 1 are each shown exemplarily. These product stacks 1 are placed in the order 1 to 12.

[0143] 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. Arrows 58 each show the following direction: the direction in which the opened grippers are moved in order to release the product stack 1.

[0144] The product stack 1 is placed on the discharge position 60 according to the respectively selected discharge pattern 61, which allows the grippers 30 and 32 to move collision-free relative to the previously placed product stack 1 in the horizontal plane.

[0145] As in Figure 6a and 6b it can be seen, a so-called “chimney section” 68 can be produced, i.e., a free space in the discharge pattern 61.

[0146] Figure 6a In comparison with 6b it can be seen that the discharge pattern 61 can be varied. Preferably, the discharge pattern 61 is varied in each new horizontal plane (or layer of the transport stack 64 to be formed). Thereby, the stability of the transport stack 64 can be improved.

[0147] Figure 7 A preferred embodiment of the transport stack 64 produced by the step “placement” is shown. A side view is shown.

[0148] 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 an 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.

[0149] When approaching the conveying stack 64, the gripping mechanism 20 can measure the vertical spacing 65 with the aid of the sensor 66, and the digital computer 80 can control the collision-free movement of the gripping mechanism 20 with the aid of this measured value.

[0150] Figure 8 Shows a preferred embodiment of the process planning. The optional steps of the method are shown by dashed lines.

[0151] Processing (100) can include manufacturing the folded product 2.

[0152] Conveying (101) can include conveying the product stack 1 along the conveying direction 71.

[0153] Separating (102) can include separating the product stack 1 along the conveying direction 71.

[0154] Stopping (103) can include stopping the product stack 1 when using the swinging mechanism 40.

[0155] Swinging (110) can include swinging the product stack 1 with the aid of the swinging mechanism 40, in particular swinging by α1 = 90°.

[0156] Orienting (111) can include orienting the product stack 1, preferably about a vertical axis. For this purpose, an orienting element 41 is used.

[0157] Linear ramming (112) can include linearly ramming the product 2. For this purpose, a linear rammer 42 can be used.

[0158] Shaking (113) can include shaking the product stack 1 and thus the product 2.

[0159] Ventilating (114) can include ventilating the product stack 1. Ventilation can be achieved by shaking.

[0160] Changing (115) can include changing the fan-shaped product stack 1 into a non-fan-shaped product stack 1. For this purpose, an orienting element 41 can be used. These orienting elements 41 can each be formed by a surface (for example, a plate with two bent edges).

[0161] The receiving (120) can 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 can be transferred from the swinging mechanism 40 to the gripping mechanism 20. The receiving can be achieved from side 3 or side 4.

[0162] The holding (121) can be achieved by means of the closed grippers 30 and 32.

[0163] The continued swinging (122) can be achieved by means of the robot arm 11, in particular a continued swing of α2 = 90°.

[0164] The return swing (123) can be achieved by means of the robot arm 11, in particular a return swing of α2 = -90°.

[0165] Depending on the unloading pattern, either a continued swing or a return swing is preferably made.

[0166] The movement (130) is preferably achieved using the robot 10. The sub-movements (130a) and (130b) are preferably achieved using the robot 10.

[0167] The calculation (131) is preferably achieved using the digital computer 80. The movement of the robot 10 can be calculated.

[0168] The control (132) is preferably achieved using the digital computer 80. The movement of the robot 10 can be controlled.

[0169] The flipping (140) can be achieved by means of the robot arm 11, in particular α1 + α2 = 180°.

[0170] The non-flipping (141) can be achieved by means of the robot arm 11, in particular α1 + α2 = 0°.

[0171] The rotation (142) can be achieved by means of the robot arm 11.

[0172] The slackening (150) can be achieved by an adjustable spacing between the two grippers 30 and 32.

[0173] The measurement (151) of the spacing 65 and / or the height 65 can be achieved by means of the sensor 66.

[0174] The placing or stacking vertically (152) can be achieved by means of the robot arm 11. In this case, in particular, the pre-given unloading pattern 61 can be taken into account.

[0175] List of reference numerals

[0176] 1 Product stack

[0177] 2 Printed product, in particular a folded printed product

[0178] 3 Side

[0179] 4 Opposite side

[0180] 5 Edge angle

[0181] 6 Edge angles opposite each other on the diagonal

[0182] 7 Diagonal line

[0183] 8 Diagonal line where vertical sag occurs

[0184] 10 Device, especially a robot

[0185] 11 Robot arm or articulated arm

[0186] 12 Axis

[0187] 13 Axis of rotation

[0188] 14 Axis of swing

[0189] 15 Movement or section

[0190] 16 Sub - movement or partial section

[0191] 20 Gripping mechanism

[0192] 21 First bearing arm

[0193] 22 First longitudinal direction

[0194] 23 Second bearing arm

[0195] 24 Second longitudinal direction

[0196] 25 Linear actuator

[0197] 26 Flange

[0198] 30 First gripper, especially a tong - type gripper

[0199] 31 First pair of gripper jaws

[0200] 31a Non - movable gripper jaw

[0201] 31b Movable gripper jaw

[0202] 32 Second gripper, especially a tong - type gripper

[0203] 33 Second pair of gripper jaws

[0204] 33a Non - movable gripper jaw

[0205] 33b Movable gripper jaw

[0206] 34 Supporting element, especially a supporting surface

[0207] 35 Stop element, in particular two stop faces

[0208] 36 Another gripper, in particular a suction gripper

[0209] 37 Linear drive

[0210] 38 Movement during gripper opening / closing

[0211] 39 Blowing mechanism

[0212] 40 Swing mechanism

[0213] 41 Orientation element

[0214] 42 Linear pusher (Geradstoβer)

[0215] 43 Gripper

[0216] 50 Horizontal

[0217] 51 Horizontal axis

[0218] 52 Horizontal position

[0219] 53 Horizontal plane

[0220] 54 Vertical

[0221] 55 Vertical axis

[0222] 56 Vertical position

[0223] 57 Vertical plane

[0224] 58 Two mutually perpendicular directions

[0225] 60 Discharge position

[0226] 61 Discharge pattern

[0227] 62 Bottom layer, in particular a carrier

[0228] 63 Layer of a stack of already placed products

[0229] 64 Conveyor stack

[0230] 65 Height

[0231] 66 Sensor, in particular a distance sensor or a camera

[0232] 67 Intermediate layer

[0233] 68 Chimney section

[0234] 69 Misalignment

[0235] 70 Post-printing machine, in particular a folding machine

[0236] 71 Conveying direction

[0237] 72 Material collector

[0238] 73 Protected area

[0239] 74 Position of post - printing processing machine

[0240] 75 Driver

[0241] 76 Roller

[0242] 80 Digital computer

[0243] 81 Network

[0244] 100 Processing

[0245] 101 Conveying

[0246] 102 Separating

[0247] 103 Stopping

[0248] 110 Oscillating

[0249] 111 Orienting

[0250] 112 Linear pushing

[0251] 113 Shaking

[0252] 114 Ventilating

[0253] 115 Changing

[0254] 120 Receiving

[0255] 121 Holding

[0256] 122 Continuing to oscillate

[0257] 123 Returning to oscillate

[0258] 130 Movement

[0259] 130a Sub - movement

[0260] 130b Sub - movement

[0261] 131 Calculating

[0262] 132 Controlling

[0263] 140 Flipping

[0264] 141 Not flipping

[0265] 142 Rotating

[0266] 150 makes the hanging pine

[0267] 151 measure

[0268] 152 place or stack vertically

[0269] α1 (first) effective angle

[0270] α2 (second) effective angle

Claims

1. A method for moving a product stack by means of a robot, Among them, wherein the robot (10) comprises an articulated arm (11) and at least one gripper (30, 32) for the product stack (1) provided on the articulated arm, and wherein the product stack (1) is selectively flipped (140), characterized in that the product stack (1) is swung (110) through an effective angle α1≠180°, then the product stack (1) is swung (122) through an effective angle α2 = 180° - α1 or swung back (123) through an effective angle α2 = -α1, and the effective angle α1 of the swing (110), which is achieved by a swing mechanism (40) different from the robot (10).

2. The method according to claim 1, characterized in that the effective angle α1 of the swing (110) is achieved before the movement (130).

3. The method according to claim 1 or 2, characterized in that the effective angle α1 of the swing (110) is achieved about a horizontal axis (51).

4. The method according to claim 1 or 2, characterized in that the product stack (1) is oriented (111) outside the horizontal position (52) and / or pushed linearly (112) in one direction and / or pushed linearly (112) in two mutually perpendicular directions and / or shaken (113) and / or ventilated (114); and / or the fan - shaped product stack is changed (115) into a non - fan - shaped product stack.

5. The method according to claim 1 or 2, characterized in that the robot (10) receives (120) the product stack (1) from the swing mechanism (40) and then moves the product stack (130).

6. The method according to claim 1 or 2, characterized in that in the case of flipping (140), the reception (120) of the product stack (1) is achieved from one side (3) of the product stack; and in the case of non - flipping (144), the reception (120) of the product stack (1) is achieved from the opposite side (4) of the product stack.

7. The method according to claim 1 or 2, characterized in that the effective angle α2 of the swing (122, 123) is achieved during the movement (130) or between two sub - movements (130a, 130b) or after the movement (130).

8. The method according to claim 1 or 2, characterized in that the effective angle α2 of the swing (122, 123) is achieved by means of the robot (10).

9. The method according to claim 1 or 2, characterized in that the effective angle α1 = 90° and the effective angle α2 = 90°, and the swing (122) continues through the angle α2.

10. The method according to claim 1 or 2, characterized in that the effective angle α1 = 90° and the effective angle α2 = - 90°, and the swing back (123) continues through the angle α2.

11. The method according to claim 1 or 2, characterized in that One side (3, 4) of the product stack (1) has at least four corners (5, 6); and The product stack is held at diagonally opposite corners (6) during the movement (130).

12. The method according to claim 1 or 2, characterized in that The product stack (1) is held such that the product stack is vertically slack (150) diagonally.

13. The method according to claim 1 or 2, characterized in that The movement (130) of the product stack (1) is from the receiving device (72) of a post-printing machine (70) for printing products (2) to a carrier (62) or to one of a plurality of carriers (62).

14. The method according to claim 1 or 2, characterized in that A plurality of product stacks (1) are stacked (152) into a transport stack (64) on a transport carrier (62) horizontally offset from each other and in a plurality of horizontally arranged horizontal planes (53) arranged one above the other.

15. The method according to claim 14, characterized in that A sensor (66) provided on the robot (10) detects (151) the height (65) of the transport stack (64).

16. The method according to claim 1 or 2, characterized in that As the height (65), detected (151) are: a single height value, a plurality of height values at different horizontal positions, or a height change curve.

17. The method according to claim 15, characterized in that The articulated arm (11) is moved (130) collision-free above a transport stack that is only partially constructed, wherein the digital computer (80) takes into account the detected height (65) when controlling the movement (15, 130) of the articulated arm (11).

18. The method according to claim 1 or 2, characterized in that The movement (130) is realized fully automatically, according to the selected unloading pattern, and in coordination with the production speed of at least one post-printing machine.

19. The method according to claim 1 or 2, characterized in that The movement (130) of the articulated arm (11) is realized within a protected area (73).

Images