Device for stacking products by means of a robot

Abstract

The present invention relates to a device for moving product stacks by means of a robot, wherein the robot (10) comprises an articulated arm (11) on which a first gripper (30) for the product stack (1) is provided. It is characterized in that a gripping mechanism (20) is provided on the articulated arm (11), the gripping mechanism comprising a first gripper (30) and a second gripper (32), wherein the first gripper and the second gripper can be positioned relative to one another. Advantageously, the present invention enables automatic operation and in particular the unloading of product stacks with or without turning them over.

Description

Technical Field

[0001] The present invention relates to a device for moving a product stack by means of a robot. Background Art

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

[0003] It is known to manually transport a product stack (such as a folded leaflet) from the delivery unit of a post-press machine (such as a folder) to a tray, and unload it there according to a known unloading pattern. This matter has a high physical working intensity 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 on 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 here.

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

[0006] Document EP1645434B1 discloses pivoting a product stack into an upright position and transferring the product stack onto a gripper (or gripping 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 can in particular achieve: automatically moving the product stack and discharging it, in particular, with or without turning it over.

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

[0011] This object is solved according to the present invention by means of a device according to a technical solution of the present invention.

[0012] Advantageous and thus preferred improvements of the present invention result from other technical solutions of the present invention as well as from the description and the drawings.

[0013] The present invention relates to a device for moving a product stack by means of a robot, wherein the robot comprises an articulated arm on which a gripper for the product stack is arranged. The device according to the present invention 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.

[0014] The device according to the present invention and its application can advantageously achieve: automatically moving the product stack and discharging it, in particular, with or without turning it over.

[0015] A particular advantage of the present invention may lie in that product stacks of different sizes or different specifications can be moved and discharged, in particular, in a selectable manner, with or without turning them over.

[0016] The term "in a selectable manner (wahlweise)" means that the product stack is either turned over or not. This selection can preferably be achieved by means of a digital computer and can be made by the digital computer, in particular, according to a so-called discharge pattern (Absetzmuster). The term "in a selectable manner" should also mean that the method can be carried out continuously several times, one product stack at a time, and it can also be achieved here that at least one product stack is turned over while at least one product stack is not turned over.

[0017] Here, the improvement of the present invention lies in:

[0018] The preferred improvements of the present invention (abbreviation: improvements) are described below.

[0019] A feature of an improvement may be that the two grippers mentioned above can be positioned for a pre-given specification of the product or the product stack, preferably in a computer-controlled manner. These grippers can be movable (preferably linearly movable) for positioning. This positioning is preferably achieved in a computer-controlled manner.

[0020] The features of an improved solution may lie in that the above two grippers can be positioned at the two ends of the selected diagonal of the selected specification. This positioning is preferably achieved in a computer-controlled manner.

[0021] The features of an improved solution may lie in that the first gripper is configured as a first pliers gripper having a first pair (Paare) of gripper jaws, and the second gripper is configured as a second pliers gripper having a second pair of gripper jaws.

[0022] The features of an improved solution may lie in that the above 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 respectively. A linear drive may be provided, preferably an electric drive having a threaded spindle. These non-movable gripper jaws are not completely immovable by nature: these non-movable gripper jaws can be moved by the movement of a robot, a grasping mechanism, and / or the gripper. These non-movable gripper jaws only do not move when the gripper opens and closes, or move only insignificantly compared to the movable gripper jaws.

[0023] The features of an improved solution may lie in that these non-movable gripper jaws each include a horizontally extending bearing element and at least one vertically extending stop element each.

[0024] The features of an improved solution may lie in that the above two non-movable gripper jaws each include 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 mutually perpendicular.

[0025] The features of an improved solution may lie in that the product stack is held by the gripper jaws in a force-locking and / or form-locking manner.

[0026] The features of an improved solution may lie in that at least one blowing mechanism is provided on the grasping mechanism, and the blowing mechanism blows air under the product stack when the product stack is placed.

[0027] The features of an improved solution may lie in that at least one additional gripper is provided on the grasping mechanism, and the additional gripper is configured as a suction gripper for the intermediate layer. This suction gripper can apply suction air in a computer-controlled manner for suction grasping and holding.

[0028] 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 grasping mechanism.

[0029] The features of an improved solution may lie in that the grasping mechanism includes a first bearing arm, and the first gripper is arranged on the first bearing arm in a manner that it can move linearly along the longitudinal direction of the first bearing arm.

[0030] An improvement may be characterized in that the gripping mechanism includes a second bearing arm, and the second gripper is arranged on the second bearing arm in a manner that it can move linearly along the longitudinal direction of the second bearing arm.

[0031] In order to enable these grippers to move along these bearing arms, linear drives, preferably electric drives with threaded spindles, may be provided on the bearing arms respectively. The linear drive may be electric. The bearing arm may have a length related to the largest-sized product stack to be moved.

[0032] An improvement may be characterized in that the first bearing arm and the second bearing arm are arranged perpendicular to each other on the gripping mechanism. These bearing arms may form an X-Y axis system for grippers with adjustable specifications. The movable gripper claws of these grippers may form a Z axis perpendicular to the above-mentioned X-Y axes.

[0033] An improvement may be characterized in that the above two linearly movable gripper claws can move perpendicular to the corresponding bearing arms.

[0034] 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 the vertical axis and / or for the unloading of the product stack that has been rotated in the horizontal plane.

[0035] An improvement may be characterized in that the gripping mechanism is swingably arranged on the robot arm around a swing axis perpendicular to the rotation axis. The swing axis is preferably used for the swinging of the product stack around the horizontal axis and / or for the unloading of the product stack that can be selectively flipped or not flipped with reference to the horizontal plane.

[0036] An improvement may be characterized in that the articulated arm includes six axes (preferably rotation axes).

[0037] An improvement may be characterized in that the robot can move horizontally relative to one or more post-printing processing machines that produce product stacks, for example, on rails or on rollers.

[0038] The features and combinations of features disclosed in the above parts "Technical Field", "Background Art", "Summary of the Invention" and in the various above parts for improvements and in the following part "Embodiments" can be combined with each other arbitrarily to form further advantageous improvements of the present invention.

[0039] Regarding the improvement in terms of swinging:

[0040] An improvement may be characterized in that the device according to the present invention is applied to and / or configured to perform the method described hereinafter.

[0041] The invention further relates to a method for moving a product stack by means of a robot, wherein the robot comprises an articulated arm and at least the above-mentioned two grippers for the product stack arranged on the articulated arm, and the product stack is flipped in an alternative manner such that the product stack swings at an effective angle α1≠180°, and subsequently the product stack swings at an effective angle α2 = 180° - α1 or swings back at an effective angle α2 = -α1.

[0042] The product stack swings in two steps in an advantageous manner and is flipped in an alternative manner here. In the first step, it swings at an effective angle α1≠180°. In the second step, it swings at an effective angle α2 = 180° - α1. If α1 and α2 are both 90°, for example, a 180° flip is achieved. If α1 and α2 are 90° and -90°, for example, no flip is achieved.

[0043] Such a two-step swinging method can advantageously add intermediate steps, for example, shaking (Rütteln) and / or straight pushing (Geradstoβen) the product stack. In addition, such a two-step swinging method can advantageously perform the above two steps at different positions, for example, in such a way that the robot moves therebetween. In addition, such a two-step swinging method can advantageously enable: performing the above two steps with different devices (for example, using a robot and using a swinging mechanism different from the robot).

[0044] The term "effective angle" should mean: this angle is independent of the swinging manner. An effective angle of +90° can thus be achieved, for example, by swinging +90°, by swinging +45° twice, or by swinging -270°. In the present invention, instead of the "effective angle", the term "angle" can also be simply applied.

[0045] A feature of an improved embodiment can be that swinging at an effective angle α1 is achieved by means of a swinging mechanism different from the robot. The swinging mechanism can be assigned to and especially arranged on the delivery unit of a post-printing machine (especially a folding machine). The swinging mechanism can include a swingable gripper for the product stack. The swinging mechanism can be controlled by a digital computer. The swinging mechanism swings the product stack preferably at α1 = 90°.

[0046] A feature of an improved embodiment can be that it swings at an effective angle α1 before the movement, or rather the movement starts from the swung state of the product stack. The movement is preferably achieved by means of a robot arm.

[0047] A feature of an improved embodiment can be that it swings at an effective angle α1 about a horizontal axis. This axis can be oriented parallel to the conveying direction of the delivery unit of a post-printing machine (especially a folding machine). The product stack is preferably grasped and held before the swing.

[0048] An improvement may be characterized in that the stack of products is swung out of the horizontal position when swinging at the effective angle α1. In this horizontal position, the individual products of the stack of products (e.g., folded leaflets) are preferably arranged horizontally.

[0049] An improvement may be characterized in that the stack of products is swung into the vertical position when swinging at the effective angle α1. In this vertical position, the individual products of the stack of products preferably "stand".

[0050] An improvement may be characterized in that the stack of products is oriented outside the horizontal position and / or pushed linearly in one direction and / or pushed linearly in two mutually perpendicular directions and / or shaken and / or ventilated; and / or such that the stack of products that is fan - unfolded becomes a stack of products that is no longer fan - unfolded ("collapsed"). At the same time, the stack of products can be located in the swinging mechanism, e.g., in its gripper. The gripper can be easily opened here, especially for ventilation. The mechanism for linear pushing and / or collapsing may include two mutually movable, mutually perpendicular surfaces (e.g., preferably plate members with lateral flanges). 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 individual surfaces) preferably moves to the open position so as to be able to receive the stack of products.

[0051] An improvement may be characterized in that the stack of products rotates about a vertical axis in the vertical position, preferably by 180°. This advantageously enables: the stack of products to be grasped from the same side in the vertical position both in the case of optionally flipping and in the case of optionally not flipping. This rotation can be achieved by means of a swinging mechanism. The swinging mechanism can include a rotation drive for this purpose. This rotation drive can be controlled by a digital computer.

[0052] An improvement may be characterized in that the receiving of the stack of products is achieved from one side of the stack of products in the case of flipping; the receiving of the stack of products is achieved from the same side of the stack of products in the case of not flipping. The receiving from one side or the other can be implemented by means of the articulated arm of a robot. The selection of the side can be achieved in a computer - controlled manner. The pre - given discharging pattern can be taken into account here.

[0053] An improvement may be characterized in that the robot receives the stack of products in the vertical position. The robot (and especially its gripper) can move towards the stack of products in a computer - controlled manner for this purpose, e.g., from above and / or from one side.

[0054] The features of an improved solution may lie in moving the product stack in a vertical position, at least in part of the path of the above-mentioned movement. Along the path of movement, the position (Lage) of the product stack can be changed, for example, by swinging (about a horizontal axis) and / or by rotating (about a vertical axis).

[0055] The features of an improved solution may lie in 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 realized in a computer-controlled manner.

[0056] The features of an improved solution may lie in that 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 opposite side of the product stack in the case of non-flipping. The reception from one side or the other can be carried out by means of the articulated arm of the robot. The grasping mechanism of the robot can be rotated here so that grasping from one side or the other is achieved. The selection of the opposite side can be realized in a computer-controlled manner. The pre-given unloading pattern can be taken into account here.

[0057] The features of an improved solution may lie in swinging with an effective angle α2, which is achieved during the movement or between two sub-movements or after the movement. This swinging can be realized in a computer-controlled manner. The pre-given unloading pattern can be taken into account here.

[0058] The features of an improved solution may lie in swinging with an effective angle α2, which is achieved by means of the robot. This swinging can be achieved by the corresponding movement of the articulated arm of the robot, and / or can be achieved by a swinging mechanism on the robot (or on its articulated arm) and / or by a swingable grasping mechanism on the robot (or on its articulated arm). The swinging can be realized in a computer-controlled manner.

[0059] The features of an improved solution may lie in that the product stack returns to a horizontal position when swinging with an effective angle α2. The product stack is placed without flipping (i.e., not flipped) in this case.

[0060] The features of an improved solution may lie in that the product stack is placed in a horizontal position. This placement (Ablegen) is preferably achieved on a bracket. For the placement, the gripper on the robot can be opened simultaneously or sequentially and drive away laterally.

[0061] A feature of an improved solution can lie in that the product stack is rotated about a vertical axis before being placed. Thereby, the orientation of the product stack in the horizontal plane can be changed, for example, by effectively 90° or 180°. This rotation can be achieved in a computer-controlled manner. Here, a pre-given unloading pattern can be taken into account.

[0062] A feature of an improved solution can lie in that the effective angle α1 = 90°, and the effective angle α2 = 90°, and the oscillation continues with α2. In the case of the continued oscillation, the oscillation with α1 and the oscillation with α2 are preferably achieved along the same oscillation direction. Here, the product stack is "totally" flipped.

[0063] A feature of an improved solution can lie in that the effective angle α1 = 90°, and the effective angle α2 = -90°, and the oscillation returns with α2. In the case of the return oscillation, the oscillation with α1 and the oscillation with α2 are preferably achieved along opposite oscillation directions. Here, the product stack is not "totally" flipped.

[0064] A feature of an improved solution can lie in that the product stack is held by at least two grippers during movement.

[0065] A feature of an improved solution can lie in that the product stack is held form-fittingly and / or force-fittingly during movement.

[0066] A feature of an improved solution can lie in that one side of the product stack has at least four edges; and the product stack is held on 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.

[0067] A feature of an improved solution can 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 robotic arm is preferably rotated.

[0068] A feature of an improved solution can lie in that the product stack is held such that the product stack is slack. 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 slack is reached. The product stack can be formed by folded paper.

[0069] The features of an improved solution can lie in that the product stack is held in such a way that the product stack sags vertically on the diagonal. Thereby, the product stack can be discharged in a controlled and self - fixing manner with the diagonal as the "deepest point". For this purpose, the product stack can be held on the diagonally opposite corners.

[0070] A particularly improved solution with regard to discharging lies in:

[0071] The features of an improved solution can lie in that the device according to the invention is applied to and / or configured to perform the method described hereinafter.

[0072] The features of an improved solution can lie in that the above - mentioned movement ends at a discharge position selected from among a plurality of discharge positions of a pre - given discharge pattern. Such a discharge pattern can be stored in a digital computer or in a network connected thereto. Multiple discharge patterns can be stored, for example, in a database. The selection of the discharge position (and / or the order of the discharge positions for successively moving product stacks) can be achieved in a computer - controlled manner. In the case where the product stack forms a conveying stack, the discharge pattern can be selected for each horizontal state (or horizontal layer), and in particular, different discharge patterns can be selected for two successive states (or two successive layers).

[0073] The features of an improved solution can lie in that the product stack is discharged onto the bottom layer (Unterlage) at the selected discharge position, preferably onto a support.

[0074] The features of an improved solution can lie in that the product stack is held in such a way that the product stack sags vertically on the diagonal; and in the case of discharging a product stack sagging on the diagonal, first its sagging part (Durchhang) is brought into contact with the bottom layer.

[0075] The features of an improved solution can lie in that the discharge pattern is stored in a digital computer or downloaded from another digital computer to this digital computer via a network; the above - mentioned movement is controlled by this digital computer.

[0076] The features of an improved solution can lie in that the discharge 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.

[0077] The features of an improved solution can lie in successively moving multiple product stacks, optionally flipping them, optionally rotating them in a horizontal plane, and discharging them at a discharge position respectively selected from multiple discharge positions in a pre-given discharge pattern. Here, a computer-controlled robot with articulated arms and a grasping mechanism can be employed.

[0078] A particularly improved solution regarding grasping lies in:

[0079] The features of an improved solution can lie in that the device according to the invention is applied to and / or configured to perform the method described hereinafter.

[0080] The features of an improved solution can lie in using two grippers; and when placing (or discharging) a product stack, these grippers are removed from the product stack in two mutually perpendicular directions in a horizontal plane.

[0081] The features of an improved solution can lie in that when placing (or discharging) a product stack, these grippers open in a vertical plane. Here, the gripper claws of the grippers can move, preferably, the gripper claws located above the product stack can move upward. The other gripper claws (preferably the one located below the product stack) can be stationary.

[0082] The features of an improved solution can lie in moving each product stack to a discharge position respectively so selected in the discharge pattern that at the discharge position these grippers can be removed from the product stack without collision in a horizontal plane relative to the already discharged product stack.

[0083] The improved solution lies in:

[0084] The features of an improved solution can lie in that the device according to the invention is applied to and / or configured to perform the method described hereinafter.

[0085] The features of an improved solution can lie in moving the product stack from the feeder of a post-press machine for printed products to a tray or to one of multiple trays. In the latter case, continuous operation can be achieved.

[0086] The features of an improved solution can lie in moving the product stack from the feeder of a post-press machine for printed products (such as a folder, a saddle-stitching line machine, or a perfect binding machine) to a tray or to one of multiple trays.

[0087] The features of an improved solution can lie in that the product stacks in the feeder are conveyed along the conveying direction and separated from each other in the conveying direction (separiert). This conveying can be achieved on a roller conveyor. For this separation, the respective drivable rollers can be driven or stopped accordingly.

[0088] An improvement may be characterized in that the robot can be applied in a movable manner at multiple positions on a single post-printing machine or on multiple post-printing machines. For this purpose, the robot can be supported on rollers and / or tracks.

[0089] An improvement may be characterized in that the product stack is formed by folded and / or die-cut printed products.

[0090] An improvement may be characterized in that multiple product stacks are stacked one above the other horizontally offset from each other and in multiple horizontal planes arranged one above the other to form a transport stack on a transport carriage, or the transport stack is formed or constructed accordingly. The selection of the offset and / or the planes can be achieved in a computer-controlled manner. A pre-given unloading pattern can be taken into account here.

[0091] An improvement may be characterized in that sensors provided on the robot detect the height of the transport stack. The sensors can be provided on the 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 carriage or from the ground, or relatively determined as the distance from the sensors.

[0092] An improvement may be characterized in that as the height, a single height value, multiple height values at different horizontal positions, or a height profile is detected.

[0093] An improvement may be characterized 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 a camera image is used.

[0094] An improvement may be characterized in that the robot arm moves collision-free above a transport stack that has only just been partially constructed, wherein the digital computer takes into account the detected height when controlling the movement of the robot arm.

[0095] An improvement may be characterized in that the robot removes individual intermediate layers from a stack and places them on the corresponding plane. These intermediate layers can be made of cardboard. The placement of the intermediate layers can be achieved in a computer-controlled manner. A pre-given unloading pattern and / or stacking pattern can be taken into account here.

[0096] An improvement may be characterized in that the intermediate layers are held by suction. For this purpose, suction grippers can be provided on the gripping mechanism of the robot. Multiple such suction grippers can be used.

[0097] The features of an improved solution may lie in that the above-mentioned movement is achieved fully automatically, in accordance with the selected unloading and / or stacking patterns and in coordination with at least the production speed of the post-printing processing machine.

[0098] The features of an improved solution may lie in that the movement of the robotic arm is achieved within a protected area.

[0099] The features of an improved solution may lie in that, in order to delimit the protected area, a housing and / or railing and / or grating and / or camera monitoring is used.

[0100] An alternative lies in:

[0101] For an alternative to the above two-step swinging method, the task can be solved by means of a one-step swinging method. Here, the product stack is preferably grasped from below and swung through an effective angle of 180° in a horizontal orientation by means of the gripping mechanism of a hinge-arm robot in order to be turned over in an optional manner, for example during movement to a carrier. If the turning over is not to be carried out in an optional manner, the product stack can preferably be grasped from above in a horizontal orientation. Description of the Drawings

[0102] Figures 1 to 8 The preferred embodiments of the present invention and its improved solutions are shown. Features corresponding to each other are provided with the same reference signs in the drawings. Repeated reference signs in the drawings are partially omitted for the sake of clarity. Detailed Description of the Invention

[0103] Figure 1 The preferred embodiment of the device according to the present invention is shown, which preferably includes a robot 10 for performing the steps of the preferred implementation form of the method according to the present invention. Attached Figure 1 The top view seen from above is shown.

[0104] The post-printing processing machine 70 (preferably a folding machine), only partially shown in the drawings, produces printed products 2 (preferably printed and / or folded leaflets 2) at position 74, and these printed products 2 move (e.g., are conveyed) in the form of a product stack 1 on a stacker 72 in the conveying direction 71. The operation of the stacker (especially the conveying) can be controlled by a digital computer 80. The product stack 1 preferably includes a plurality of products stacked one above the other.

[0105] The digital computer 80 is preferably connected to a network 81, and the digital computer 80 can control the post-printing 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.

[0106] The stacker 72 can move the product stack 1 into the 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 (for example, six axes). The robot 10 can be a conventional industrial robot.

[0107] 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 the conveyor carriage 62. There, the product stack 1 is placed and preferably discharged at the discharge position 60 according to the discharge pattern 61. Preferably, a plurality of carriages 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.

[0108] A swing mechanism 40 is preferably provided at the end of the stacker 72. The swing mechanism 40 can swing the product stack 1 from the horizontal 50 (or horizontal plane 53 or horizontal position 52) to the vertical 54 (or vertical plane 57 or vertical position 56). The swing mechanism 40 can include two preferably horizontally movable orientation elements 41 for the product stack 1 and / or linear pusher 42. These orientation elements 41 and / or linear pusher 42 can be configured as surfaces (for example, plates).

[0109] The actions of the robot 10 (especially the movement 15 and / or sub-movements 16) and / or the actions of the swing mechanism 40 (especially the swing) can be controlled by a digital computer 80.

[0110] Figure 2 A preferred embodiment of the stacker 72 of the post-processing machine 70 is shown. The stacker 72 can include a plurality of rollers 76. The stacker 72 can be a roller conveyor. Some of these rollers 76 can be driven, for example, by a motor 75. The digital computer 80 can control the conveyance of the product stacks 1 composed of products 2 stacked on top of each other. Here, these product stacks 1 can be separated from each other along the conveying direction 71. The products 2 and thus also the product stacks 1 formed preferably have four corners 5. Die-cut products can also have a plurality of corners. If folded products are involved, then their folded backs (Falzrücken) are preferably parallel to the conveying direction 71.

[0111] Figure 3a and 3bShows a preferred embodiment of the stack receiver 72, which preferably includes a swing mechanism 40, wherein each step of the preferred implementation form of the method according to the present invention is carried out. Perspective views are shown respectively.

[0112] Figure 3a and 3b Shows the end of the folding machine 70 and the stack receiver 72, on which the product stack 1 is conveyed along the conveying direction 71 until the swing mechanism 40 (method step: conveying 101). The product stack 1 and then the product 2 are preferably in a horizontal position 52 before swinging.

[0113] The swing mechanism 40 preferably includes a gripper 43, for example rods that are movable relative to each other, preferably one rod (closed "pressing piece") on one side of the product stack 1 and three rods on the other side. The swing mechanism 40 and / or its gripper 43 can swing about a horizontal axis 51. The gripper (located below the product stack 1 in Figure 3a ) can be positioned between the rollers 76 and can swing out from this position.

[0114] Figure 3a and 3b Partially shows the robot 10 and its articulated arm 11. The robot 10 is preferably movable horizontally on the ground and can thus be positioned at different locations. The robot 10 can be supported on rollers 76, for example. Tracks can be provided, for example.

[0115] Figure 3a and 3b Preferably shows a horizontally movable orientation element 41 and / or a linear pusher 42.

[0116] In Figure 3a and 3b It can be seen from the comparison that the swing movement or swing 110 is achieved at an effective angle α1 (method step: swing 110). In the example shown, the angle α1 is 90°. The product stack 1 is preferably in a vertical position 56 after the swing 110. For the folded product 2, the folded back is preferably upward in a vertical position.

[0117] Figure 3a and 3b Shows two sides 3 and 4. The robot 1 can preferably grasp the swung product stack 1 from one side 3 or from the opposite side 4. Side 3 can be called the front side, and side 4 can be called the rear side. The choice of the opposite side can be realized in a computer-controlled manner according to the unloading pattern.

[0118] 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 by 180°. In the case of this option, the robot 1 can always pick up the swung product stack 1 from the same side, preferably from side 3 (or the front side).

[0119] Figures 4a to 4d Shows a preferred embodiment of the robot-guided gripping mechanism 20, in which the individual steps of a preferred implementation form of the method according to the invention are carried out. Perspective views are shown respectively.

[0120] Figures 4a to 4d Shows the flange 26 of the robot 10. The gripping mechanism 20 for the product stack 1 is preferably arranged on this flange 26. The gripping mechanism 20 can preferably be rotated about the rotation axis 13 (method step: rotation 142). The gripping mechanism 20 can preferably be swung about the swing axis 14 (method step: continue swinging 122 or return swinging 123). Both the rotation axis 13 and the swing axis 14 can each be achieved by only one axis 12 of the robot 10, or can also be achieved by three axes each.

[0121] The gripping mechanism 20 preferably comprises two load-bearing arms: a first load-bearing arm 21 and a second load-bearing arm 23. These load-bearing arms are preferably perpendicular to each other. A first gripper 30 is preferably arranged movably along a first longitudinal direction 22 on the first load-bearing arm 21. A second gripper 32 is preferably arranged movably along a second longitudinal direction 24 on the second load-bearing arm 23. These grippers can be driven by a linear drive 25 for their size-related adjustment.

[0122] The first gripper 30 preferably comprises a first pair of gripper jaws 31, and the first pair of gripper jaws 31 comprises 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, and the second pair of gripper jaws 33 comprises a non-movable gripper jaw 33a and a movable gripper jaw 33b. The movable gripper jaw 33a can be driven by a linear drive 37. These non-movable gripper jaws can each comprise a bearing element 34 (preferably a bearing surface). These movable gripper jaws are used to open and close the gripper.

[0123] 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 Figure 5 the diagonal 7 in).

[0124] In Figure 4aIn the illustrated example, the gripping mechanism 20 grips the product stack 1 swung into the vertical position from side 4 (i.e., for example, from the rear side). In other words: The gripping mechanism 20 is preferably located on side 4 when gripping the product stack 1. To clarify this, the conveying direction 71 is depicted.

[0125] In Figure 4b the illustrated example, the gripping mechanism 20 also grips the product stack 1 swung into the vertical position from side 4 (i.e., for example, from the rear side).

[0126] In Figure 4a the comparison between 4b it can be seen that either one pair of edges 5 (“upper left” and “lower right”) or the other pair of edges 5 (“lower left” and “upper right”) can be gripped. The selection of the pair of edges can be made in a computer-controlled manner and according to the unloading pattern.

[0127] In Figure 4c the illustrated example, the gripping mechanism 20 grips the product stack 1 swung into the vertical position from side 3 (i.e., for example, from the front side).

[0128] In Figure 4d the illustrated example, the gripping mechanism 20 also grips the product stack 1 swung into the vertical position from side 3 (i.e., for example, from the front side).

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

[0130] Whether the product stack 1 is gripped from side 3 or side 4, and whether in this case one pair of edges 5 or the other pair of edges 5 is gripped, depends on how the product stack 1 is to be placed: whether the product stack 1 is to be placed turned over or not, and whether the product stack 1 is to be placed rotated or not. This in turn depends on the selected unloading pattern and the corresponding unloading position within this pattern. The digital computer 80 controls the gripping and thus the suitable movements of the robot 10 according to the unloading pattern and the unloading position. The above-mentioned side and the above-mentioned edges are accordingly selected.

[0131] After gripping and during the movement 130 (especially between the two partial movements 130a and 130b) and preferably before placement (method step 152), the product stack 1 is swung at an effective angle α2, either for continued swinging (method step 122) or for return swinging (method step 123). By continued swinging, the product stack 1 is preferably placed turned over (method step: turning over 140); by return swinging it is preferably placed without being turned over (method step: not turning over 141).

[0132] Figure 5 Shows a preferred embodiment of the gripping mechanism, in which the step of performing the preferred implementation form of the method according to the present invention, "causing the product stack 1 to sag 150", is carried out. A perspective view is shown.

[0133] In Figure 5 the gripping 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 bearing arms 21 and 23 according to the specifications of the product stack 1 such that the product stack 1 sags (method step: causing sag 150). In the case where the product stack 1 is placed on the conveying carriage 62 or on an already formed conveying stack 64, the sagging diagonal 8 first contacts the carriage 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 mutually perpendicular directions 58. This opening and removal can be controlled by a digital computer 80.

[0134] Figure 5 The above two non - movable gripper claws 31a and 33a are shown, which have two corresponding stop elements 35 (in particular stop surfaces 35). The above two supporting elements 34 (not shown 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 direction 38.

[0135] Figure 5 A sensor 66 is shown, preferably on one of these non - movable ("lower") gripper claws 31a and 33a. This sensor 66 can measure the spacing (or height 65) relative to the carriage 62 or relative to an already formed conveying stack 64 and transmit the measured value to the digital computer 80, so that the digital computer 80 can control a precise and especially collision - free placement.

[0136] Figure 5 Two further grippers 36 (in particular suction grippers 36) are shown. These grippers 36 are preferably used for gripping and holding the intermediate layer 67.

[0137] Figure 6a And 6b a preferred embodiment of the discharging pattern is shown.

[0138] Figure 6a And 6bExemplarily, a top view of twelve product stacks 1 is shown respectively. These product stacks 1 are placed in the order of 1 to 12.

[0139] At each corner of each product stack 1, the gripping mechanism 20 (or flange 26) is shown as a circle. Two grippers 30 and 32 are shown at two corners each. The arrows 58 each show the following direction: the opened grippers are moved along such a direction in order to release the product stack 1.

[0140] The product stack 1 is placed at the unloading position 60 according to the respectively selected unloading pattern 61, which allows: the grippers 30 and 32 to move collision - free relative to the previously placed product stack 1 on the horizontal plane.

[0141] As in Figure 6a and 6b it can be seen, a so - called "chimney part" 68 can be produced, that is, a free space in the unloading pattern 61.

[0142] Figure 6a Comparison with 6b shows that the unloading pattern 61 can be changed. Preferably, the unloading pattern 61 is changed in each new horizontal plane (or layer of the conveying stack 64 to be formed). Thereby, the stability of the conveying stack 64 can be improved.

[0143] Figure 7 A preferred embodiment of the conveying stack 64 produced by the step "placement" is shown. A side view is shown.

[0144] On the conveying carriage 62, the first layer 63 of the product stack 1 is placed according to the first unloading pattern. An intermediate layer 67 is placed on this first layer 63. These intermediate layers 67 can be taken out by the robot 10 from adjacent intermediate layer stacks. 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.

[0145] The gripping mechanism 20 can measure the vertical spacing 65 by means of a sensor 66 when approaching the conveying stack 64, and the digital computer 80 can control the collision - free movement of the gripping mechanism 20 with the aid of this measured value.

[0146] Figure 8 A preferred embodiment of the process planning is shown. The optional steps of the method are shown by dashed lines.

[0147] Processing (100) can include manufacturing the folded product 2.

[0148] Conveying (101) may include conveying the product stack 1 in the conveying direction 71.

[0149] Separating (102) may include separating the product stack 1 in the conveying direction 71.

[0150] Stopping (103) may include stopping the product stack 1 when using the swinging mechanism 40.

[0151] Swinging (110) may include swinging the product stack 1 by means of the swinging mechanism 40, in particular swinging by α1 = 90°.

[0152] Orienting (111) may include orienting the product stack 1, preferably about a vertical axis. For this purpose, the orienting element 41 is used.

[0153] Linear ramming (112) may include linearly ramming the product 2. For this purpose, a linear rammer 42 may be used.

[0154] Shaking (113) may include shaking the product stack 1 and further the product 2.

[0155] Ventilating (114) may include ventilating the product stack 1. Ventilation can be achieved by shaking.

[0156] Changing (115) may include changing the fan-shaped product stack 1 into a non-fan-shaped product stack 1. For this purpose, the orienting element 41 may be used. These orienting elements 41 may each be formed by a surface (for example, a plate with two bent edges).

[0157] Receiving (120) may be achieved by means of the grasping mechanism 20 (and in particular by means of its grippers 30 and 32). When receiving, the product stack 1 may be transferred from the swinging mechanism 40 to the grasping mechanism 20. Receiving may be achieved from side 3 or side 4.

[0158] Holding (121) may be achieved by means of the closed grippers 30 and 32.

[0159] Continuing to swing (122) may be achieved by means of the robot arm 11, in particular continuing to swing by α2 = 90°.

[0160] Return swinging (123) may be achieved by means of the robot arm 11, in particular returning to swing by α2 = -90°.

[0161] Preferably, either continue to swing or return to swing according to the discharging pattern.

[0162] Movement (130) is preferably achieved using the robot 10. Sub-movements (130a) and sub-movements (130b) are preferably achieved using the robot 10.

[0163] The calculation (131) is preferably implemented using a digital computer 80. The movement of the robot 10 can be computed.

[0164] The control (132) is preferably implemented using a digital computer 80. The movement of the robot 10 can be controlled.

[0165] The flipping (140) can be achieved by means of the robot arm 11, in particular α1 + α2 = 180°.

[0166] The non - flipping (141) can be achieved by means of the robot arm 11, in particular α1 + α2 = 0°.

[0167] The rotation (142) can be achieved by means of the robot arm 11.

[0168] The slackening (150) can be achieved by an adjustable spacing between two grippers 30 and 32.

[0169] The measurement (151) of the spacing 65 and / or the height 65 can be achieved by means of the sensor 66.

[0170] The placing or stacking (152) can be achieved by means of the robot arm 11. Here, the pre - given unloading pattern 61 can be taken into account in particular.

[0171] List of reference numerals

[0172] 1 Product stack

[0173] 2 Printed product, in particular a folded printed product

[0174] 3 Side

[0175] 4 Opposite side

[0176] 5 Edge

[0177] 6 Opposite edges on the diagonal

[0178] 7 Diagonal

[0179] 8 Diagonal where slackening occurs

[0180] 10 Device, in particular a robot

[0181] 11 Robot arm or articulated arm

[0182] 12 Axis

[0183] 13 Axis of rotation

[0184] 14 Axis of oscillation

[0185] 15 Movement or section

[0186] 16 Sub - movement or partial section

[0187] 20 Gripping mechanism

[0188] 21 First load-bearing arm

[0189] 22 First longitudinal direction

[0190] 23 Second load-bearing arm

[0191] 24 Second longitudinal direction

[0192] 25 Linear actuator

[0193] 26 Flange

[0194] 30 First gripper, in particular tongs

[0195] 31 First pair of gripper jaws

[0196] 31a Non-movable gripper jaw

[0197] 31b Movable gripper jaw

[0198] 32 Second gripper, in particular tongs

[0199] 33 Second pair of gripper jaws

[0200] 33a Non-movable gripper jaw

[0201] 33b Movable gripper jaw

[0202] 34 Support element, in particular support surface

[0203] 35 Stop element, in particular two stop surfaces

[0204] 36 Another gripper, in particular suction gripper

[0205] 37 Linear actuator

[0206] 38 Movement during gripper opening / closing

[0207] 39 Blowing mechanism

[0208] 40 Swinging mechanism

[0209] 41 Orientation element

[0210] 42 Linear pusher (Geradstoβer)

[0211] 43 Gripper

[0212] 50 Horizontal

[0213] 51 Horizontal axis

[0214] 52 Horizontal position

[0215] 53 Horizontal plane

[0216] 54 Vertical

[0217] 55 Vertical axis

[0218] 56 Vertical position

[0219] 57 Vertical plane

[0220] 58 Two mutually perpendicular directions

[0221] 60 Discharge position

[0222] 61 Discharge pattern

[0223] 62 Bottom layer, especially the bracket

[0224] 63 Layer of the stacked products that have been placed

[0225] 64 Conveyor stack

[0226] 65 Height

[0227] 66 Sensor, especially the spacing sensor or camera

[0228] 67 Intermediate layer

[0229] 68 Chimney part

[0230] 69 Misalignment

[0231] 70 Post-printing processing machine, especially the folding machine

[0232] 71 Conveyor direction

[0233] 72 Receiving device

[0234] 73 Protected area

[0235] 74 Position of the post-printing processing machine

[0236] 75 Driver

[0237] 76 Roller

[0238] 80 Digital computer

[0239] 81 Network

[0240] 100 Processing

[0241] 101 Conveying

[0242] 102 Separating

[0243] 103 Stopping

[0244] 110 Swing

[0245] 111 Orientation

[0246] 112 Linear push and bump

[0247] 113 Wobble

[0248] 114 Ventilation

[0249] 115 Change

[0250] 120 Receive

[0251] 121 Hold

[0252] 122 Continue to swing

[0253] 123 Return swing

[0254] 130 Motion

[0255] 130a Sub - motion

[0256] 130b Sub - motion

[0257] 131 Calculate

[0258] 132 Control

[0259] 140 Flip

[0260] 141 Do not flip

[0261] 142 Rotate

[0262] 150 Make it sag

[0263] 151 Measure

[0264] 152 Place or stack vertically

[0265] α1 (First) effective angle

[0266] α2 (Second) effective angle

Claims

1. An apparatus for moving product stacks with the aid of a robot, Among them, wherein the robot (10) includes an articulated arm (11) on which a first gripper (30) for the product stack (1) is provided, wherein a gripping mechanism (20) is provided on the articulated arm (11), the gripping mechanism including the first gripper (30) and a second gripper (32), wherein the first gripper and the second gripper are positionable relative to each other, wherein the first gripper (30) is configured as a first pliers gripper having a first pair of gripper jaws (31), and the second gripper (32) is configured as a second pliers gripper having a second pair of gripper jaws (33), wherein the two pairs of gripper jaws (31, 33) include respective non - movable gripper jaws (31a, 33a) and respective gripper jaws (31b, 33b) that are linearly movable relative to the non - movable gripper jaws, wherein the non - movable gripper jaws (31a, 33a) include respective horizontally extending bearing elements (34) and respective at least one vertically extending stop element (35), wherein the two non - movable gripper jaws (31a, 33a) include respective horizontally extending bearing surfaces as bearing elements and respective two vertically extending and mutually perpendicular stop surfaces as stop elements.

2. The apparatus according to claim 1, characterized in that, the two grippers (30, 32) are positionable for a pre - given specification of the product (2) or the product stack (1).

3. The apparatus according to claim 2, characterized in that, the two grippers (30, 32) are positionable for the two ends (5, 6) of a selected diagonal (7) of the selected specification.

4. The apparatus according to any one of claims 1 to 3, characterized in that, the product stack (1) is held by the gripper jaws (31, 33) in a force - locking and / or form - locking manner.

5. The apparatus according to any one of claims 1 to 3, characterized in that, at least one blowing mechanism (39) is provided on the gripping mechanism (20), and the blowing mechanism blows air under the product stack (1) when the product stack is placed.

6. The apparatus according to any one of claims 1 to 3, characterized in that, at least one additional gripper (36) is provided on the gripping mechanism (20), and the additional gripper is configured as a suction gripper for an intermediate layer (67).

7. The apparatus according to any one of claims 1 to 3, characterized in that, at least one distance sensor (66) and / or at least one camera is provided on the gripping mechanism (20).

8. The apparatus according to any one of claims 1 to 3, characterized in that, the gripping mechanism includes a first carrier arm (21), and the first gripper (30) is provided on the first carrier arm so as to be linearly movable along the longitudinal direction (22) of the first carrier arm.

9. The apparatus according to claim 8, characterized in that, The gripping mechanism (20) includes a second bearing arm (23), and the second gripper (32) is arranged on the second bearing arm in a manner capable of linearly moving along the longitudinal direction (24) of the second bearing arm.

10. The device according to claim 9, wherein, the first bearing arm (21) and the second bearing arm (23) are arranged perpendicular to each other on the gripping mechanism (20).

11. The device according to any one of claims 1 to 3, wherein, the two gripper claws (31b, 33b) capable of linear movement can move perpendicular to the corresponding bearing arms (21, 23).

12. The device according to any one of claims 1 to 3, wherein, the gripping mechanism (20) is arranged on the articulated arm (11) in a manner capable of rotating about a rotation axis (13).

13. The device according to claim 12, wherein, the gripping mechanism (20) is arranged on the articulated arm (11) in a manner capable of swinging about a swing axis (14) perpendicular to the rotation axis (13).

14. The device according to any one of claims 1 to 3, wherein, the articulated arm (11) includes six axes (12).

15. The device according to any one of claims 1 to 3, wherein, the robot (10) can move horizontally relative to one or more post-printing machines (70) that produce product stacks (1).

16. The device according to claim 1, wherein, the two grippers (30, 32) can be positioned in a computer-controlled manner according to a pre-given specification of the product (2) or the product stack (1).

17. The device according to any one of claims 1 to 3, wherein, the articulated arm (11) includes six rotation axes.

18. The device according to any one of claims 1 to 3, wherein, the robot (10) can move horizontally relative to one or more post-printing machines (70) that produce product stacks (1) on a track or on rollers.

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