Assembly and module for manipulating a material flow from a stack formed of printed material

Abstract

The invention relates to an assembly for manipulating a material stream from a stack of printed products stacked one above the other in the region of an output transport path (10) downstream of a graphic industrial machine, a robot arm (30) being designed for manipulating with a gripping device (31), the gripping device (31) receives and holds the stack (7) in a handling process at a receiving position (20) of the output transfer section (10), moves the stack away from the receiving position (20) and discharges the stack in a further position (21), the assembly (2) comprising a number n > = 2 robot arms (30, 30a), a first robot arm (30) being associated with a first receiving position (20), at least one further robot arm (30a) being associated with a respective further receiving position (20a), the robot arms (30, 30a) receive the stack (7) at respective receiving positions (20, 20a) of the robot arms. The invention can improve the productivity of a graphic industrial machine such as a folding machine. The invention is preferably used in the field of post-press treatment.

Description

Technical Field

[0001] The invention relates to an assembly (anordnung) for handling (handling) a material flow (stream) formed by a stack of printed products placed one above the other, having the features of the preamble of claim 1. The invention also relates to a module for handling a material flow (stream) formed by a stack of printed products placed one above the other, having the features of the preamble of claim 11.

[0002] The invention is in the technical field of the graphics industry, in particular in the field of handling (e.g. gripping, holding, moving and / or depositing) stacks of flexible (and preferably printed and folded) flat products (e.g. sheets preferably made of paper, cardboard, paperboard, plastic or a composite material) stacked on top of each other using a handling device (e.g. an articulated arm robot) in the area of ​​the outfeed of a graphics industry machine, in particular a post-processing machine (e.g. a folder). Background Art

[0003] In the area of ​​post-print processing, the use of robots in order to relieve the physical load on operating personnel and at the same time to increase the productivity (for example of folders) is already known in the graphics industry.

[0004] Document DE 102020103400 A1 discloses a method for moving a stack of products using a robot, wherein the robot comprises an articulated arm on which at least one gripper for the stack of products is arranged, and wherein the stack of products is turned over in a selectable manner, characterized in that the movement ends at a selected one of a plurality of discharge positions of a preset discharge pattern. The robot can be located downstream of a folding machine and can discharge the stack of folded products onto a pallet.

[0005] Document EP3736235A1 discloses a handling device for transferring a stack of products (particularly folded, bound or integrated products) from a receiving area to a storage area, wherein the handling device includes a gripping device movable in three dimensions, the gripping device being configured to receive the stack of products arranged in the receiving area, move it and store it in the storage area; wherein the gripping device includes an upper fixing element for pressing the upper side of the received stack and a lower fixing element for supporting the lower side of the received stack opposite to the upper side.

[0006] If the productivity of folding machines and thus the output of folded products is to be further increased, known robot-based solutions may reach their limits, since their movement sequences cannot be increased as desired due to the given maximum permissible speeds. The use of multiple robots is also not optional: collisions must be avoided, for which, for example, expensive sensor systems may be required. Summary of the invention

[0007] Therefore, the object of the present invention is to propose a technical solution which is improved compared with the prior art and which can further improve the productivity of graphics industry machines, especially post-processing machines (such as folding machines).

[0008] This object is achieved according to the invention by an assembly as claimed in claim 1 and a module as claimed in claim 11 .

[0009] Preferred and therefore preferred developments of the invention are disclosed in the dependent claims as well as in the description and the drawings.

[0010] Output conveyor section according to the invention for use after / downstream of a graphics industry machine A component for manipulating a material flow consisting of stacks of printed products stacked on top of each other in an area, wherein a robot arm is constructed with a gripping device for the purpose of manipulation, and wherein the gripping device receives and holds or clamps the stack at a receiving position of the output conveying section during manipulation, moves the stack away from the receiving position and unloads it at other positions (andernorts), characterized in that the component includes a number n ≥ 2 robot arms, wherein a first robot arm is assigned to a first receiving position, and at least one other robot arm is assigned to a corresponding other receiving position, and wherein the robot arms respectively receive the stack at their respective receiving positions.

[0011] According to the present invention, a module for a graphic industry machine for manipulating a material flow consisting of stacks formed by printed products stacked on top of each other comprises a section of an output conveying section having a receiving position and a robotic arm for receiving the stacks at the receiving position, and is characterized in that the module is constructed to be coupleable so that the module can operate in a selectable manner (wahlweise) in a single mode or a dual mode, wherein in the single mode, only the module is arranged and the robot of the module receives all the stacks, and in the dual mode, a number n ≥ 2 modules are arranged in sequence in coupling, and each robot of each module receives 1 / n of the material flow consisting of the stacks.

[0012] A system comprising two graphic industrial machines and two modules according to the invention, characterized in that at least one module is movable and coupleable and i) either moves and couples to a graphic industrial machine or ii) moves and couples to another module, wherein the other module is coupled to the other graphic industrial machine.

[0013] The present invention can advantageously further increase the productivity of machines in the graphics industry, in particular post-processing machines such as folding machines.

[0014] One or more graphic industry machines can be folding machines, respectively; alternatively can be binding machines or perfect binders, in particular thread binding machines or wire binding machines or glue binding machines or consolidation machines or so-called book production lines. A plurality of graphic industry machines can be identical or different machines.

[0015] The assembly according to the invention allows the use of robots in cascade (kaskadiert) at multiple receiving positions to receive stacks. The module according to the invention with an output conveying section and a robot also allows the module to be used in cascade in dual mode (alternative name: multiple mode). A plurality of modules according to the invention (n≥2) can be arranged one after the other, wherein at least a subset (Teilmenge) of these stacks is conveyed from one module to the next. It can also be provided that the material flow contains successive stacks formed by different printed products, and each robot receives the same stack and unloads it (for example, two robots receive stack A and stack B; unload stack A on bracket A' and stack B on bracket B'; alternatively: unload stack A on one half of the bracket and stack B on the other half of the bracket).

[0016] The robots and / or modules are preferably arranged so as not to interfere with each other and the stack flow. Thus, for example, according to one embodiment, a first robot is arranged above the output conveyor section and at least a subset of the stacks passes through a "tunnel" below the robot and reaches a second robot.

[0017] The robot arms preferably each take up a stack in alternating fashion at their respective receiving positions; alternatively, they can take up the stacks simultaneously.

[0018] The modules are preferably substantially identical in structure and can be combined with one another (cascaded) as desired. Furthermore, the modules can be substantially identical. With respect to the modules, "identical in structure" is to be understood as meaning that corresponding modules with different set positions of the robot can also be considered to be identical in structure to one another; in contrast, "identical" is to be understood as meaning that a plurality of modules have the same set position of the robot. The robots are preferably identical to one another.

[0019] The use of a module according to the invention (in dual mode) in combination with at least one other module according to the invention can also be regarded as an aspect of the invention.

[0020] The modules can be equipped with corresponding coupling devices which enable mechanical, electrical, signal, data and / or pneumatic coupling of the modules to one another and / or to an upstream machine. Such devices can also ensure that an upstream module only transfers a stack when a downstream module is actually present.

[0021] The robot and / or the module and / or the section (of the output conveyor section) mentioned below can be movable, or be configured to be movable, or include means for moving it (e.g. wheels). Such movement is preferably carried out on the floor of the production site. Such movement is preferably performed by an operator.

[0022] The robot used is preferably a so-called collaborative robot. In this case, it is not absolutely necessary to carry out a complex packaging of the robot to protect the operating personnel. The robot used can be designed, for example, as an articulated arm robot or a so-called SCARA (Selective Compliance Assembly Robot Arm) robot. Preferably, identical robots are used.

[0023] The setting position of each robot is, for example, beside the output conveying section; the arrangement of the unloading position is similar to this.

[0024] The stack is preferably stored on a pallet.

[0025] Preferred improvements of the present invention (improvements for short) are described below. These improvements can also be combined with each other as long as they are not mutually exclusive in technology.

[0026] One development may be characterized in that n=2 and in that the at least one further robot arm is a second robot arm.

[0027] A development may be characterized in that n=3 and the at least one further robot arm is a second robot arm and a third robot arm.

[0028] A development may be characterized in that n=4 and the at least one further robot arm is a second robot arm, a third robot arm and a fourth robot arm.

[0029] One refinement can be characterized in that each robot arm receives 1 / n of the stack flow at its respective receiving position. In this case, the control device (of the robot, module or system) can predetermine the distribution of the stacks to the robots (and the carriers). The control device can be connected to the control device of the graphics industry machine (in particular one or more post-processing machines) and / or the pre-press stage and / or the enterprise production control.

[0030] One development can be characterized in that the further receiving position follows the first receiving position in the direction of the material flow. One development can alternatively be characterized in that the further receiving position is identical to the first receiving position in the direction of the material flow.

[0031] One improved solution may be characterized in that the first robot arm is arranged with the first base at the first set position.

[0032] A feature of an improved solution may be that the other robot arm is arranged at another set position with another base. The first set position and the other set position are different from each other.

[0033] A development can be characterized in that the first set point is arranged above the output conveying section.

[0034] A development can be characterized in that the further setting position is arranged above the output conveying section.

[0035] A development can be characterized in that the further setting position is arranged on the side next to the output conveying section.

[0036] A development can be characterized in that the further setting position is provided at the end of the output conveying section.

[0037] A development can be characterized in that the first set point is arranged on a first side next to the output conveying section.

[0038] A development can be characterized in that the further setting position is arranged next to the output conveying section on the same first side.

[0039] A development can be characterized in that the further setting position is arranged on an opposite second side next to the output conveying section.

[0040] A development can be characterized in that the further setting position is provided at the end of the output conveying section.

[0041] A development can be characterized in that the further setting position is arranged above the output conveying section.

[0042] For an arrangement above the discharge conveyor section, the respective setting point can be arranged on a tunnel for the transported stacks.

[0043] One refinement can be characterized in that at least one robot arm is movably configured and can therefore be arranged in different set positions. The robot can be mobile. The robot or its base can include wheels, for example.

[0044] A refinement can be characterized in that the output conveying section is divided into n independent sections. The sections can be separable from each other. The sections can be movable (i.e., can move). At least one section can have a switchable stop for the stack. The stop can be activated (e.g., by running into a stop position) and the stack can stop at the activated stop before being grasped by the robot. The stop can be deactivated (e.g., by running out of the stop position) and the stack can be conveyed past the deactivated stop so that another robot grasps the stack. The sections can be formed by a module according to the invention.

[0045] One development can be characterized in that at least one individual segment is movably configured and can therefore be arranged in different setting positions.

[0046] One development can be characterized in that a separate, movable intermediate section that can be arranged at different set positions is provided for the output conveying section. The intermediate section can be structurally useful or even necessary, for example, in order to connect two output conveying sections to one another.

[0047] A development can be characterized in that the stacks are loose, bundled or boxed.

[0048] The features and feature combinations disclosed in the above sections on the technical field, the summary of the invention and the developments as well as in the following section on the exemplary embodiments represent—in any combination with one another—further preferred developments of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 The preferred embodiments of the present invention and its improved solutions are shown. Corresponding features are marked with the same reference numerals in the drawings. For the sake of clarity, the parts of the reference numerals that appear repeatedly in the drawings are omitted. DETAILED DESCRIPTION

[0050] Figure 1 A schematic top view of a preferred embodiment of a module according to the invention in single mode is shown. A graphic industrial machine 1 (e.g. a folder) generates a material flow 5 in a direction 6 consisting of stacks 7 formed by printed products 8 stacked on top of each other and outputs these stacks 7 (e.g. via a receiver not shown separately). The material flow 6 arrives at a module 3 having an output conveyor section 10, preferably at a section 11 of the output conveyor section 10. The output conveyor section 10 may include a roller table (not shown) for the stacks 7. The output conveyor section 10 includes a first receiving position 20, at which the stacks 7 are successively received by a first robot arm 30 (or its gripping device 31) of the module 3; the first receiving position 20 may be defined by a stop 14 (see, e.g. Figure 4 and Figure 6 ).

[0051] A first setting position 33 for the first robot arm 30 is arranged at the output conveying section 10; the first setting position 33 can be above, beside or after the output conveying section 10 (see reference numerals 34, 35, 36 and 37). The robot arm 30 arranged at the setting position 33 successively grabs the stacks 7, transports them to the discharge position 21 and preferably discharges them on the carrier 22 there. As an alternative to the illustrated embodiment, it can be provided that the setting position 33 is arranged beside or after the output conveying section 10 and at the same time between two discharge positions 21 (see dashed circles), and the setting position 33 is used for these two discharge positions 21.

[0052] Figure 1 The module 3 shown in FIG. 1 (in single mode) with the output conveyor section 10 and the first robot arm 30 is preferably movably configured and can be part of an assembly 2 consisting of two modules 3 and 3a that follow one another (see FIG. 2 ). Figure 3 dual mode in ).

[0053] Figure 2 A schematic top view of a preferred embodiment of two modules according to the invention is shown, each module being operated in single mode. A graphics industrial machine 1 (e.g. a folder) and a further graphics industrial machine 1a (e.g. also a folder) each generate a material flow consisting of stacks of printed products stacked one above the other (similar to Figure 1). This corresponding material flow reaches the module 3 with the output conveying section 10 from the machine 1 (preferably reaches the section 11 of the output conveying section 10) and reaches another module 3a with the output conveying section 10 from the machine 1a (preferably reaches another section 11a of the output conveying section 10). These output conveying sections 10 are arranged at respective set positions 38 here (separated / independent, decoupled / uncoupled, side by side). Each output conveying section 10 may include a roller table (not shown) for stacking. The output conveying section 10 of the machine 1 includes a first receiving position 20, at which the stacks are successively received, transported and unloaded by the first robot arm 30 (or its gripping device 31) of the module 3. The output conveying section 10 of the machine 1a includes another receiving position 20a, at which the stacks are successively received, transported and unloaded by another robot arm 30a (or its gripping device 31) of another module 3a. These unloading positions may be respectively as follows Figure 1 The arrangement shown (see reference numerals 33, 33a, 34, 35, 36 and 37). Figure 2 The machines 1 and 1 a shown in FIG. 4 together with their modules 3 and 3 a may be collectively referred to as a system 4 .

[0054] Figure 2 The modules 3 and 3a (in single mode, respectively) shown in FIG. 1 and their respective output conveying sections 10 and respective robot arms 30 and 30a are preferably movably configured and can be part of an assembly 2 consisting of two consecutive modules 3 and 3a (see FIG. 2 ). Figure 3 dual mode in ).

[0055] Figure 3 A schematic top view of another preferred embodiment with two modules according to the invention in dual mode is shown. Figure 2 By comparison, it can be seen that the (movable) module 3a is no longer arranged at the machine 1a, but at another machine 1 (or another module 3). The output conveyor sections 10 are arranged here at respective set positions 38 (coupled, successively). The illustrated assembly 2 according to the invention and the illustrated system 4 therefore comprise one or more output conveyor sections 10 or two (output conveyor section) sections 11 and 11a and two robot arms 30 and 30a (see, for example Figure 5 and Figure 7 ). In this assembly 2, each robot arm 30 and 30a preferably receives half of the material flow 5 consisting of the stack 7. Each of the two robot arms 30 and 30a can be arranged at a suitable setting position 33 or 33a and receives the stack at an accessible receiving position 20 and 20a.

[0056] Figure 4A schematic side view (left) and a front view (right) of a preferred embodiment of a module according to the invention in single mode are shown. The machine 1 is optionally followed by a mechanical interface 13 and then a module 3, which has an output conveyor section 10 (or section 11) and a first robot arm 30 with a (robot) base 32 at a first set position 33 (in this embodiment above the output conveyor section, see reference numeral 34). The robot arm 30 comprises a gripping device 31, with which a stack 7 is gripped in turn and moved away from the first receiving area 20. A stop 14, preferably with a rhythmic (getacktet), can be provided, on which the stack 7 transported in the direction 6 stops and is thus located in the receiving area 20.

[0057] Figure 5 A schematic side view of a preferred embodiment of two modules according to the invention in dual mode is shown. The machine 1 is optionally followed by a mechanical interface 13, then a module 3 with an output conveying section 10 (or section 11) and a first robot arm 30 with a (robot) base 32 at a first setting position 33 (in this embodiment above the output conveying section, see reference numeral 34), and then a further module 3a with an output conveying section 10 (or section 11a) and a further robot arm 30a with a (robot) base 32a at a further setting position 33a (in this embodiment also above the output conveying section, see reference numeral 34). Each robot arm 30 and 30a comprises a gripping device 31, with which a stack 7 is gripped in turn and moved away from the first receiving area 20 (or the further receiving area 20a). A stop 14, preferably with a rhythm, can be provided in each case, on which the stack 7 conveyed in the direction 6 stops and is thus located in the receiving area 20 or receiving area 20a. The illustrated assembly 2 according to the invention preferably comprises two structurally identical (in particular two identical) modules 3 and 3a. In this assembly, each robot arm 30 and 30a preferably receives half of the material flow 5 conveyed in the direction 6. Thus, the Figure 5 The implementation method basically corresponds to two Figure 4 A combination or conjunction of embodiments.

[0058] Figure 6 A schematic side view of a preferred embodiment of a module according to the invention in single mode is shown. Figure 4 and Figure 5 By comparison, it can be seen that in this embodiment, the robot arm 30 is not arranged above the output conveying section 10, but is arranged beside it (see reference numeral 35). Figure 4 The same applies as described.

[0059] Figure 7 A schematic side view of a preferred embodiment of two modules according to the invention in dual mode is shown. Figure 7 The implementation method basically corresponds to two Figure 6 In addition, Figure 5 The same applies as described.

[0060] Reference numerals list

[0061] 1 Graphic industrial machines, such as folders

[0062] 1a Another graphic industrial machine

[0063] 2One or more components

[0064] 3One or more modules

[0065] 3a One or more other modules

[0066] 4 System

[0067] 5Material Flow

[0068] 6 Directions

[0069] 7 stacks

[0070] 8. Printing

[0071] 10One or more output transmission segments

[0072] 11 sectors

[0073] 11a Another section

[0074] 12One or more intermediate sections

[0075] 13 Mechanical interface

[0076] 14 stopper

[0077] 20First receiving position

[0078] 20a One or more other receiving locations, such as a second receiving location

[0079] 21One or more discharge locations

[0080] 22One or more brackets

[0081] 30First Robotic Arm

[0082] 30a Another robot arm, such as a second robot arm

[0083] 31One or more gripping devices

[0084] 32 First Base

[0085] 32a Another base

[0086] 33 First (robot) setting position

[0087] 33a Another (robot) set position

[0088] 34 (Robot) set position above the output conveyor section

[0089] 35 (Robot) set position on the first side beside the output conveyor section

[0090] 36 (Robot) set position next to the output conveying section on the opposite second side

[0091] 37 (Robot) set position at the end of the output transport section

[0092] 38 outputs the set position of the transmission path section.

Claims

1. A component for handling a material flow consisting of a stack of printed products stacked one above the other in the region of an output transport section (10) downstream of a graphics industry machine, in, The robot arm (30) is designed to have a gripping device (31) for the manipulation, and wherein the gripping device (31) receives and holds the stack (7) at a receiving position (20) of the output conveying section (10) during the handling process, moves the stack away from the receiving position (20) and discharges it at another position (21), It is characterized in that The assembly (2) comprises a number n≥2 of mechanical arms (30, 30a), wherein a first robot arm (30) is assigned to a first receiving position (20), and at least one further robot arm (30a) is assigned to a corresponding further receiving position (20a), and The robot arms (30, 30a) receive the stack (7) at corresponding receiving positions (20, 20a) of the robot arms, respectively.

2. The assembly according to claim 1, It is characterized in that Each robot arm (30, 30a) receives 1 / n of the material flow (5) consisting of the stack (7) at its corresponding receiving position (20, 20a).

3. Assembly according to one of the preceding claims, It is characterized in that The first mechanical arm (30) is arranged at a first set position (33) with a first base (32), and The other robot arm (30a) is arranged at another set position (33a) with another base (32a).

4. The assembly according to claim 3, It is characterized in that The first setting position (33) is arranged above the output conveying section (10).

5. The assembly according to claim 4, It is characterized in that The other setting position (33a, 34) is arranged above the output conveying section (10), or The other setting position (33a, 35) is arranged on one side beside the output conveying section (10), or The further set position (33a, 37) is arranged at the end of the output conveying section (10).

6. The assembly according to claim 3, It is characterized in that The first setting position (33, 35) is arranged on a first side beside the output conveying section (10).

7. The assembly according to claim 6, It is characterized in that The further setting position (33a, 35) is arranged on the same first side beside the output conveying section (10), or The further setting position (33a, 36) is arranged on an opposite second side next to the output conveying section (10), or The other setting position (33a, 37) is arranged at the end of the output conveying section (10), or The other setting position (33a, 34) is arranged above the output conveying section (10).

8. Assembly according to one of the preceding claims, It is characterized in that At least one robot arm (30, 30a) is movably configured and can thus be arranged in different setting positions (33, 33a, 34, 35, 36, 37).

9. Assembly according to one of the preceding claims, It is characterized in that The output conveying section (10) is divided into n independent sections (11, 11a).

10. The assembly according to claim 9, It is characterized in that At least one individual section (11, 11a) is movably configured and can thus be arranged in different setting positions (38).

11. Assembly according to any one of the preceding claims 3 to 10, It is characterized in that The robot arm (30, 30a) is arranged beside or behind the output conveying section (10) and is simultaneously arranged between two set positions (33, 33a, 34, 35, 36, 37).

12. A module for a graphics industry machine for manipulating a material flow consisting of a stack of printed products stacked one above the other, the module comprising: A section (11) of the output conveying section (10) having a receiving position (20); and a robotic arm (30) for receiving the stack (7) at the receiving position (20), It is characterized in that The modules (3) are configured to be couplable so that the modules (3) can be operated in a single mode or a dual mode in a selectable manner. wherein, in the single mode, only the module (3) is arranged and the robot (30) of the module receives all the stacks, and In the dual mode, n≥2 modules (3, 3a) are arranged in series and coupled, and the corresponding robot (30, 30a) of each module (3, 3a) receives 1 / n of the material flow formed by the stack.

13. A system comprising two graphic industrial machines and two modules according to claim 11 or 12, It is characterized in that At least one module (3) is movable and coupleable and is either i) movable and coupled to a graphics industrial machine (1) or ii) movable and coupled to another module (3a), wherein the other module (3a) is coupled to another graphics industrial machine (1a).

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