Device for discharging printed products onto carrier

Abstract

The invention relates to a device for discharging printed products onto a carrier, comprising: a transport section which transports the printed products (5) to a receiving position (6); and a robot (10) having a robot arm (11), which lifts the printed product (5) from the conveying section (4) at the receiving position (6), moves the printed product to the carriage (8) and discharges the printed product on the carriage (8) in such a way as to form a carriage stack, the device (1) comprising at least one projector (20), which produces an optical marking (21) on the floor (3) in a danger area (12) of the robot arm (11), and the projector generates an optical start warning (22) at the beginning of the movement of the robot arm (11). According to the invention, operators such as a folding machine and a product collector thereof can be effectively protected from dangers caused by movement of a robot. The invention is used, for example, after a receiver of a folding machine.

Description

Technical Field

[0001] The invention relates to a device for discharging printed products onto trays or pallets, which has the features of the preamble of claim 1 .

[0002] The invention is in the technical field of the graphics industry and in particular in the field of handling (e.g. gripping, holding, moving, rotating, turning and / or placing) stacks of flexible (and preferably printed and folded) flat products stacked one on top of the other (preferably made of paper, cardboard, paperboard, plastic or a composite material, such as leaflets) using a manipulator, in particular an articulated arm robot with a gripping device for stacking. Background Art

[0003] It is known to transport stacks of flat products on a (roller) conveyor path, to grip the stack by means of a gripper arranged on a robot arm, to lift the stack from the conveyor path, to move the stack to a carrier and to unload it there.

[0004] DE 10 20 20 10 3 398 A1 discloses a folding machine having a subsequent conveying section for folding products and a robot arm which picks up the products from the conveying section, moves them to a carrier and discharges them there. The robot arm corresponds to a conventional industrial robot in terms of its structure and its movement, so that the danger zone around the robot is preferably enclosed by a fence.

[0005] DE 202019 106 975 U1 discloses similar content, wherein the robot arm here corresponds to a so-called collaborative robot and therefore no fence is required.

[0006] The range of motion of the robot arm can therefore constitute a danger zone for the operator. Instead of fencing off the danger zone, it is also possible to mark the area.

[0007] US9764484B2 discloses a robot standing on the ground and a projector that projects visible light onto the ground to mark dangerous areas around the robot.

[0008] Particularly hazardous situations may arise for the operator when the machine is started up. Therefore, for example, in printing presses and folding machines, the operator is usually informed by sound when the corresponding machine is started up. Summary of the invention

[0009] Therefore, the object of the present invention is to provide a technical solution which is improved compared with the prior art and which can in particular protect operators (for example of a folding machine and its product discharger) from dangers caused by the movements of the robot.

[0010] This object is achieved according to the invention by a device as claimed in claim 1 .

[0011] Advantageous and therefore preferred developments of the invention are apparent from the dependent claims as well as from the description and the drawings.

[0012] The device according to the invention for unloading printed products onto a pallet comprises a conveyor section and a robot with a robot arm, wherein the conveyor section transports the printed products to a receiving position, the robot arm lifts the printed products from the conveyor section at the receiving position, moves the printed products to the pallet and unloads them on the pallet in the form of a pallet stack (Palettenstapel), characterized in that the device comprises at least one projector (Projektor) which generates an optical mark on the ground in a danger zone of the robot arm and generates an optical start warning when the movement of the robot arm begins.

[0013] The invention can advantageously protect an operator (for example of a folding machine and its product discharger) from dangers due to the movements of a robot. For example, the invention can be used after the discharger (Auslage) of a folding machine.

[0014] The invention provides the advantage that not only the danger zone (i.e. the location of the danger zone) is optically indicated to the operator, but also the occurrence or change of a dangerous situation (i.e. the occurrence or change of a state) is optically indicated. In this way, the potential danger to the operator can be further reduced. In addition, it is advantageous that the same technical means can be used to produce both indications (optical marking and optical start warning). The costs of the corresponding device can also be reduced in this way.

[0015] A single projector may be provided, which generates both the optical marking and the optical activation warning. Preferably, a plurality of projectors, such as two, three, four or five, are provided, which together generate both the optical marking and the optical activation warning, such as in a region or a section manner, respectively. For example, for a rectangular marking, each side of the rectangle may be generated by one projector.

[0016] Preferred improvements of the present invention (improvements for short) are described below. These improvements can also be combined with one another as long as they are not technically exclusive.

[0017] One refinement can be characterized in that the projector can be activated automatically. One refinement can be characterized in that the projector can be activated in a production-related manner. Activation. This activation can be performed by the robot control and should not be performed manually and by an operator in particular. Instead of just one projector, a plurality of projectors can also be provided which, when activated, jointly generate an optical marking or an optical start warning. It can also be provided that the optical marking and / or the optical start warning each include two or more areas (for example on the floor of a production hall), which are connected or not; for example, such areas can be generated on each side of the conveyor section.

[0018] A kind of improved scheme is characterized in that, the projector is operated in continuous mode to produce optical marking.In continuous mode, optical marking is produced continuously and uninterruptedly.

[0019] A further development may be characterized in that the optical marking comprises a surface or Face Edge And / or the optical activation warning includes a surface or a surface edge. Here, the optical marking and the optical activation warning may relate to the same surface (or the same surface edge), or to different surfaces (or different surface edges). Both the optical marking and the optical activation warning can be generated by illuminating (for example, the floor of a production workshop). This illumination can be performed in a predetermined area, for example, a circular surface, a rectangular surface or a square surface (or the corresponding edges of these surfaces) can be illuminated.

[0020] An improved solution can be characterized in that the projector is operated in a flashing mode to generate an optical start-up warning. In the flashing mode, the optical start-up warning is not generated continuously, but intermittently. An improved solution can be characterized in that the projector changes from a continuous mode to a flashing mode before the start of the movement of the robot arm. An improved solution can be characterized in that the projector changes from the flashing mode back to the continuous mode after the start of the movement of the robot arm. By activating the flashing mode, the operator should be informed of the potential risk of injury and in this way be able to leave the danger zone immediately. For example, it can be provided that only the edge of the danger zone flashes during the flashing mode; alternatively, the entire surface can flash. Both the optical marking and the optical start-up warning can be designed symmetrically (for example circular or square) or asymmetrically (for example elliptical, rectangular or arbitrary shape) with respect to the position of the robot.

[0021] One refinement may be characterized in that the optical activation warning is activated a predetermined number of seconds before the start of the robot arm movement. One refinement may be characterized in that the optical activation warning is deactivated a predetermined number of seconds after the start of the robot arm movement. For example, activation may be performed approximately 3 seconds before the robot arm movement and deactivation may be performed approximately 3 seconds after the robot arm movement.

[0022] A kind of improved scheme is characterized in that, when changing between continuous mode and flickering mode and when changing back to continuous mode, color change is carried out.Therefore, the continuous lighting in continuous mode and the non-continuous lighting in flickering mode can be carried out with different colors from each other (for example red and yellow).

[0023] A further development may be characterized in that the projector is arranged on the conveying path or on the robot; in this case, the projector may be arranged at a high place; alternatively, the projector may be arranged close to the ground.

[0024] One refinement may be characterized in that the robot is able to change position For example, it can be movable between at least two positions at at least two different machines / folding machines. A further development can be characterized in that the optical marking or the extended optical marking is activated when and / or after the robot changes position, so that a predetermined safety distance is maintained when the robot is repositioned. This safety distance can be predetermined relative to the machine or the wall. For example, the operator can be instructed that the robot is only positioned at a position where the optical marking or the extended optical marking reaches the production hall floor without hindrance. Alternatively, in addition to the projector, a camera can also be provided, which detects the optical marking or the extended optical marking on the ground, evaluates the detected optical marking or the extended optical marking, and triggers a warning if the optical marking or the extended optical marking fails to reach the production hall floor without hindrance.

[0025] One refinement can be characterized in that the robot is a collaborative robot system. One refinement can be characterized in that the robot is a cobot collaborative robot. Such robots usually do not have a protective fence for protection against danger. In addition, such robots are usually also light and compact enough to be used in different locations, for example to move on the floor of a production workshop. In this case, it is advantageous not to provide fixed markings for the danger zone on the floor, but to enable the markings to move with the robot.

[0026] One development may be characterized in that the projector comprises at least one LED light source or at least one laser light source.

[0027] One development can be characterized in that the device generates an additional visual and / or acoustic warning, in particular when activated (or at the start).

[0028] A refinement can be characterized in that at least one projector (preferably electrically) monitors for faults and automatically introduces predetermined safety measures when one or more projectors fail. Here, these safety measures can include the following (alone or in combination): activating a visual warning, preferably activating a warning prompt on the operator's display and / or activating a warning light; reducing the working speed of the robot arm and preferably also reducing the working speed of the conveying section; automatically notifying the service department of the machine manufacturer (so-called "remote service"). In addition, the operator can also be prompted by a display to set an isolation device (for example a chain post) and confirm that it has been executed. The reduction in the working speed can be carried out step by step, for example, in the case of only one projector (of multiple projectors) failing and setting isolation, the speed can remain at normal speed, and in the case of two projectors failing, the speed can be reduced to a value between normal speed and zero, for example 50% or 25%. In the case of another projector failing, the speed can be reduced to zero, that is, stopped. If there is no confirmation that the isolation device has been set, stopping can also be carried out. Additional acoustic warnings are also feasible.

[0029] The features and feature combinations disclosed in the above technical fields, background art, summary of the invention and developments as well as in the following exemplary embodiments represent—in any combination with one another—advantageous further developments of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figures 1 to 4 The preferred embodiments of the present invention and the improved solutions of the present invention are shown. In the accompanying drawings, corresponding features are represented by the same reference numerals. For the sake of clarity, the repeated reference numerals in the accompanying drawings are omitted.

[0031] Figure 1 A schematic top view of a preferred embodiment of the device according to the invention is shown.

[0032] Figure 2 A further preferred embodiment of the device according to the invention is also shown in a schematic top view.

[0033] Figure 3 A diagram showing possible timings for changing between continuous mode and flashing mode when operating a preferred device according to the present invention.

[0034] Figure 4 Shown according to Figure 1 Schematic top view of a preferred embodiment of a repositionable device according to the invention. DETAILED DESCRIPTION

[0035] exist Figure 11 shows a device 1 according to the invention, which is arranged near a machine 2 (e.g. a folding machine) and is located on the floor 3 of a production hall (e.g. a printing house). The machine 2 comprises a conveyor section 4 (e.g. a roller table) for conveying printed products 5 (or stacks of printed products) to a receiving position 6 of the conveyor section 4. The area of ​​the conveyor section indicated by the dashed line can be fenced off to avoid danger. Two discharge positions 7 are also arranged at the conveyor section 4, at which the printed products 5 are preferably discharged on a carrier 8 and a carrier stack is formed therein.

[0036] The device 1 according to the invention comprises a robot 10 having a movable robot arm 11 (e.g. an articulated arm) and a gripping device (not shown) for the printed product 5. The possible spatial movements of the robot arm 11 define a danger zone 12 on the floor 3, into which the operator 60 is not allowed to enter, at least during the movement of the robot arm 11, in order to avoid potential injuries. Figure 1 In FIG. 4 , the robot 10 is arranged at a position 13 at the end of the conveying section 4 .

[0037] The device 1 according to the invention further comprises a projector 20 which generates (for example by lighting) an optical mark 21 (for example a surface 21a with a surface edge 21b) on the ground surface 3. The projector 20 can also generate an extended optical mark 21c (see Figure 4 ). In addition to the optical marking 21, the projector 20 also generates an optical start-up warning 22, for example also by lighting. The machine 2 may include an additional warning device 23 (for example a light emitter and / or a loudspeaker), which may also generate a (visual and / or audible) start-up warning.

[0038] The machine 2 also comprises a preferably digital computer 40 which can also control the movements of the robot 10 and the activation / deactivation of the projector 20 .

[0039] Figure 2 The content shown is similar to Figure 1 The difference is that here the robot 10 is arranged at a position 14 on one side of the conveying section 4. In this way, the end of the conveying section 4 is accessible to the operator 60. For example, the printed product 5 can be removed for inspection purposes.

[0040] exist Figure 3, a coordinate system including two curves is shown, wherein the horizontal axis is the time axis. The vertical axis includes different modes, namely the continuous mode 30, the flashing mode 31, the robot stop 34 and the robot movement 36. The curve shown in dashed lines represents the state change of the robot 10 from the stop 34 to the movement state 36; this change occurs at the start 35 (or the start of the movement of the robot arm 11). The curve shown in non-dashed lines represents the state change of the projector 20 (or the change between the optical mark 21 and the optical start warning 22): first, the projector 20 operates in the continuous mode 30, then changes 32 to the flashing mode 31, and finally changes 32 back to the continuous mode 30; a color change 33 can also be performed at the corresponding change 32. The start 37 of the start warning 22 and the end 38 of the start warning 22 can be staggered in time (advanced or delayed) relative to the start 35 of the movement of the robot arm 11; this time stagger is preferably in the range of a few seconds.

[0041] exist Figure 4 As can be seen in FIG. 1 , the robot 10 can be repositionable and can thus be positioned at the machine 2 (first position 50) or at least one other machine 52 (second position 51) in a production-related manner. It is advantageous here that the projector 20 is arranged on the robot 10 and can be repositioned together with the robot 10; in this way, even when the robot 10 is moving (or the robot 10 is repositioned), the danger zone 21 can be indicated by the optical marking 21. In this case, an extended optical marking 21c can preferably be used in order to maintain a predetermined safety distance 53 relative to the machines 2 and 52 or to a wall 54.

[0042] Reference numerals list

[0043] 1 Equipment

[0044] 2 Machines, such as folders

[0045] 3. Floor of the production workshop

[0046] 4 Conveyor sections, such as roller conveyors

[0047] 5 Printing products

[0048] 6 Receiving location

[0049] 7 Unloading position

[0050] 8 Bracket

[0051] 10. Robot

[0052] 11 Robotic Arm

[0053] 12 Danger Zone

[0054] 13 Position at the end of the conveyor section

[0055] 14 Position on one side of the conveyor section

[0056] 20 Projector

[0057] 21 Optical marking

[0058] 21a

[0059] 21b Face edge

[0060] 21c Extended optical labeling

[0061] 22 Optical start warning

[0062] 23 Additional warning devices

[0063] 30 Continuous Mode

[0064] 31 Flashing Mode

[0065] 32 Transformation

[0066] 33 Color Change

[0067] 34 Stopping the robot

[0068] 35 Start of the robot arm's movement (start)

[0069] 36 Robot Movement

[0070] 37 Start of the startup warning

[0071] 38 End of startup warning

[0072] 40 Computer

[0073] 50 First Position

[0074] 51 Second position

[0075] 52 One or more other machines

[0076] 53 One or more safety distances

[0077] 54 Wall

[0078] 60 operators

Claims

1. A device for unloading a printed product onto a bracket, the device comprising: a conveying section, which conveys the printed product (5) to a receiving position (6), and a robot (10) having a robot arm (11) which lifts the printed product (5) from the conveying section (4) at the receiving position (6), moves the printed product to the carriage (8) and discharges the printed product on the carriage (8) in a manner forming a carriage stack, It is characterized in that The device (1) comprises at least one projector (20) which generates an optical marking (21) on the ground (3) in a danger zone (12) of the robot arm (11) and which generates an optical start warning (22) when a movement of the robot arm (11) begins.

2. The device according to claim 1, It is characterized in that The projector (20) can be automatically activated.

3. The device according to claim 1, It is characterized in that The projector (20) is operated in a continuous mode (30) for producing the optical marking (21).

4. The device according to claim 1, It is characterized in that The optical mark (21) comprises a surface (21a) or a surface edge (21b), and / or The optically activated warning (22) comprises a surface (21a) or a surface edge (21b).

5. The device according to any one of the preceding claims, It is characterized in that The projector (20) is operated in a flashing mode (31) for generating the optical activation warning (22).

6. The device according to claim 5, It is characterized in that The projector (20) switches from the continuous mode (30) to the flashing mode (31) before the movement of the robot arm (11) is initiated.

7. The device according to claim 6, It is characterized in that The projector (20) switches from the flashing mode (31) back to the continuous mode (30) after the movement of the robot arm (11) is initiated.

8. The device according to claim 7, It is characterized in that A color change (33) is performed when changing (32) between a continuous mode (30) and a flashing mode (31) and when changing (32) back to the continuous mode (30).

9. The device according to any one of the preceding claims, It is characterized in that The robot (10) is capable of changing position.

10. The device according to claim 9, It is characterized in that When and / or after the robot (10) changes position (50, 51), the optical marker (21) or the extended optical marker (21c) is activated in order to maintain a predetermined safety distance (53) when the robot (10) is repositioned.

11. The device according to any one of the preceding claims, It is characterized in that Automatically initiates predefined safety measures in the event of a failure of one or more projectors.

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