Substrate handling system and method for operating a substrate handling system

Abstract

Substrate handling system with a feed system (2) for feeding stacked substrates and with a processing machine (1) for processing stacked substrates, wherein a robot cell (3) is provided between the feed system (2) and the processing machine (1) and wherein the robot cell (3) has one or two gripper systems (3.2) for handling a plurality of substrates, wherein at least one measuring system (9) for determining the number of substrate sheets is assigned to the robot cell (3) and wherein the processing machine (1) has a non-stop feeder (1.1) and substrate stacks (4) consisting of stacked sub-stacks can be fed to the processing machine (1) without interruption.

Description

[0001] The invention relates to a substrate handling system with a feed system for supplying stacked substrates and with a processing machine for processing stacked substrates, and a method for operating a substrate handling system with a feed system for supplying stacked substrates and a processing machine for processing stacked substrates.

[0002] From JP 60 - 48848 A it is known to handle sub-stacks of a stack of sheets differently using grippers.

[0003] It is known from JP 62 - 8936 A or JP 62 - 8937 A to handle partial stacks using grippers.

[0004] From DE 39 37 995 A1 it is known to use movable forks for separating the reeds.

[0005] DE 199 39 165 A1 discloses a method and a device for processing leaves using a counting disc.

[0006] DE 103 47 167 A1 discloses a method for removing and depositing a package of folding cartons from a stacking device in a folding carton manufacturing machine.

[0007] EP 1 264 792 A1 discloses a device and a method for dividing a stack of sheets into a set of predetermined number of sheets.

[0008] From EP 1 598 293 A1 a method for loading a vibrating table and a device for carrying out the method are known, wherein partial stacks of a total stack are conveyed to the vibrating table by means of gripping means.

[0009] DE 20 2005 017 158 U1 shows a control device for removing a partial stack from a stack of paper sheets using a camera.

[0010] From EP 2 128 056 A1 a method and a device for handling a stack of sheets or a partial stack thereof is known, wherein first the position and height of the stack is recorded, after which the stack or partial stack is lifted section by section using the previously recorded position and height data and gripped from the side and then handled.

[0011] DE 10 2010 017 593 A1 discloses a method and an arrangement for picking up a partial stack of a counted number of material sheets from a material stack.

[0012] From EP 2 923 977 B1 and EP 2 923 978 B1, it is known to use a gripping device that can be operated manually by means of a stick control element to separate a partial stack from a total stack and to transfer this partial stack to a vibrating table.

[0013] From WO 2012 / 069056 A1, an automatic handling and ventilation of a stack of paper is known, in which a two-arm robot with gripper systems is used.

[0014] WO 2015 / 147724 A1 discloses a gripper which can be attached to an arm of a robot for handling flexible substrates and whose lower finger is designed to enter a stack in order to separate the stack into sub-stacks.

[0015] From WO 2016 / 148618 A1 and already SE 1450359 A1, a method for gripping an upper bundle of flexible substrates using grippers on a two-armed robot is known, wherein sensors are used to scan the substrate stack and wherein a second lower gripper finger is used next to a first lower gripper finger and subsequently the second lower gripper finger is moved along the stack edge into its final gripping position.

[0016] WO 2015 / 147725 A1 discloses a method for handling stacks of flexible substrates, wherein the captured sub-stacks are first brought into a vertical position by grippers of a two-arm robot and then placed down.

[0017] The invention is based on the objective of creating an alternative substrate handling system or an alternative method for operating a substrate handling system. In particular, a semi- or fully automatic system is to be created which can be adapted to or adapted to the diverse requirements.

[0018] According to the invention, the problem is solved by a device with the features of the independent device claim and a method with the features of the independent method claim. Advantageous embodiments are described in the dependent claims, the description, and the drawings.

[0019] The invention has the advantage that an alternative substrate handling system or an alternative method for operating a substrate handling system is created. In particular, a semi- or fully automatic system is created which can be adapted to a wide variety of requirements.

[0020] The invention will now be explained by way of example. The accompanying drawings schematically illustrate the following: Fig. 1: Top view of a substrate handling system with feed system, robot cell and processing machine; Fig. 2: Side view of the substrate handling system with processing machine and robot cell; Fig. 3: Shaking table with downstream non-stop feeder; Fig. 4: System for the automatic preparation of banknote sheets; Fig. 5: Supply system with logistics system for transporting containers containing substrate stacks; Fig. 6: Substrate stacks feedable to a substrate handling system; Fig. 7: Substrate stacks processed by the substrate handling system and collected stacking aids; Fig. 8: Vacuum counting disc for counting substrate sheets; Fig. 9: Two-arm robot with interchangeable gripper; Fig. 10: Top view of a robot cell with a vacuum counting disc mounted on a frame; Fig. 11: Vacuum counting disc mounted on a frame; Fig. 12: Perspective views of a vacuum counting disc; Fig. 13: Handling steps of substrate sheets by gripper systems of a two-arm robot.

[0021] The Fig. 1 or Fig. Figure 2 shows, for example, a substrate handling system with an arbitrary processing machine 1 and a robot cell 3. The processing machine 1 can be, for example, a sheet-fed processing machine, in particular a sheet-fed printing press. The processing machine 1 can also be a sheet-fed offset rotary printing press, for example, in a modular or in-line configuration. The processing machine 1 can, for example, be a printing press that processes fed substrate, in particular sheet-shaped substrate, for example, printing and / or varnishing or numbering, cutting and / or inspecting it. The substrate handling system is preferably used for processing security materials or banknotes.

[0022] The processing machine 1, for example, has a feeder 1.1 to which sheet-shaped substrate can be fed. A system, one or more processing units such as printing units 1.2 and a delivery unit 1.3 can be connected to the feeder 1.1 in the substrate conveying direction. The processing machine 1 preferably includes a conveying system (not shown) that conveys the substrates to be processed, for example, printed, varnished, or otherwise finished, through the processing machine 1. The conveying system can, for example, include conveyor belts and / or rotating sheet guide cylinders that fix the substrate at its leading edge by means of grippers and transfer it when the grippers are closed. The machine can also include a turning device for turning the substrates.

[0023] In the delivery unit 1.3, a chain conveyor system can be configured, for example, with two delivery chains guided laterally along the frame of the delivery unit 1.3. Gripper carriages are arranged between these chains, conveying the substrate to a delivery stack. The gripper carriages can be equipped with sheet-fixing systems that grip the substrates to be conveyed at their leading edges. The gripper carriages can be guided by the delivery chains along a track in the conveying direction until they reach the delivery stack, where they release the substrates for placement. One or more sheet stacks can be formed in the delivery unit 1.3.

[0024] The substrate handling system comprises a processing machine 1 for processing stacked substrates and a feeding system 2 for supplying stacked substrates to the processing machine 1. The feeding system 2 has at least one staging station 2.1 for providing at least one substrate stack 4, consisting of individually stacked substrates, to be processed by the processing machine 1. The substrate staging station 2.1 is located within the area of ​​a robot cell 3, i.e., within the working area of ​​an industrial robot, such that the robot can handle the provided substrate. The feeding system 2 preferably provides stacked substrates, which are fed in, for example, stacked on a pallet-shaped base. The substrate stacks 4 provided by the feeding system 2 can be provided, for example, as a complete stack or as partial stacks separated by means of stacking or separating aids.Furthermore, the provided substrate stacks 4 can also be provided packaged or sealed. The provided substrate stacks 4 may, for example, have been printed in a previous printing run.

[0025] The substrate handling system further comprises a robot cell 3 between the feed system 2 and the processing machine 1, which in particular includes a two-arm robot 3.1. Preferably, the two-arm robot 3.1 has two independently movable arms, each with gripping systems 3.2, which particularly preferably have at least six degrees of freedom. The gripper systems 3.2 of the two-arm robot 3.1 are designed to handle a plurality of substrates. For example, the gripper systems 3.2 can each comprise at least two gripper fingers, which can be designed to move towards each other for gripping. The gripper systems 3.2 can also have pneumatic connections, in particular air nozzles. One or both gripper systems 3.2 can also be assigned a separating aid for insertion into the substrate stack 4.

[0026] The feed system 2 is operated in such a way that it can selectively feed substrates stacked in various ways. This means, in particular, that the feed system 2 brings stacked substrates into the working area of ​​the robot cell 3, especially into the gripping range of the two-arm robot 3.1. The feed system 2 can, in particular, feed substrate stacks 4 consisting of substrates stacked without separating them or of substrates separated by stacking aids. The substrate stacks 4 consisting of substrates stacked without separating them, or the substrate stacks 4 consisting of substrates separated by stacking aids, are preferably conveyed by the feed system 2 and positioned at a defined staging area 2.1. For example, stacking boards 6 or spacer plates 7 can be used as stacking aids.Stacking boards 6 can, for example, be inserted in a previous printing pass to separate individual sub-stacks into the substrate stack 4 to be processed further.

[0027] In robot cell 3, particularly by means of the two-arm robot 3.1, a sub-stack of the substrate stack 4 positioned at the staging station 2.1 can be grasped, thus separating the grasped substrates of the sub-stack from the rest of the stack. In robot cell 3, a sub-stack of a sub-stack formed, for example, by stacking boards 6 can be grasped or handled. With suitable dimensions, however, an entire sub-stack formed by stacking aids can also be grasped or handled. Preferably, in connection with grasping or separating a sub-stack, the individual substrates of the sub-stack are separated from one another, for example, by loosening them.

[0028] In a substrate handling system, a depositing table is preferably provided on which the partial stacks gripped by the gripper systems 3.2 can be placed. The depositing table receives the substrates to be subsequently processed by the processing machine 1, particularly by depositing one or more partial stacks using the gripper systems 3.2. From the depositing table, the received substrate stack 4 can be transferred, for example, via conveyor systems to a pallet 5, in particular a non-stop system pallet 5. Especially in the configuration of a non-stop feeder 1.1, the substrate stacks 4 received on a non-stop system pallet 5 can be fed to the processing machine 1 without interruption. Preferably, the feeding of the sheets stacked on a pallet 5 or non-stop system pallet 5 is semi- or fully automated, for example, via a logistics or transport system.

[0029] The Fig. Figure 3 shows a storage table, preferably designed as a vibrating table 8, with a movable or pivotable stop 8.1. The substrate sheets placed on the vibrating table 8 by gripper systems 3.2 can be aligned against the stop 8.1, particularly during a vibrating motion. After alignment, the stop 8.1 can be moved or pivoted, and the finished vibrated substrate stack 4 can be fed to the processing machine 1. In particular, the finished vibrated substrate stack 4 can be transferred to a non-stop system pallet 5. For this transfer, a logistics or transport system can be used, for example, which moves the non-stop system pallet 5 into the area of ​​the vibrating table 8. Conveyor systems, gripper systems, and / or push systems can be provided for transferring the finished vibrated substrate stack 4 to a pallet 5 or non-stop system pallet 5.The support table, in particular the vibrating table 8, can also have several stops assigned to different sides, which can be used for alignment by selecting the appropriate option. The vibrating table 8 can be adjusted to the selected stop side within its support surface. For example, one or two stop sides can be selected from a range of two, three, or even four stop sides.

[0030] The feeder 1.1 of the processing machine 1 is preferably designed as a non-stop feeder 1.1, by means of which substrate stacks 4 can be continuously fed to the processing machine 1 for processing. Such a non-stop feeder 1.1 can therefore include an auxiliary stack carrier with support elements that engage a remaining stack through a non-stop system pallet 5 and lift it for further processing. While the remaining stack is being processed, the empty non-stop system pallet 5 can be lowered and a new substrate stack 4 inserted. For this purpose, for example, a new, especially pre-vibrated, substrate stack 4 can be inserted on another non-stop system pallet 5 under the remaining stack and lifted by a stack support plate. This allows the non-stop feeder 1.1 to combine the stacks by removing the support elements of the auxiliary stack carrier.This allows substrates to be fed to processing machine 1 without interruption.

[0031] During operation of the substrate handling system, stacked substrates are fed to the robot cell 3 via the feed system 2. The robot cell 3 prepares the substrate stacks 4 for processing by the processing machine 1, which then processes the supplied substrates fully automatically. The robot cell 3, located between the feed system 2 and the processing machine 1, handles multiple substrates using gripper systems 3.2. The feed system 2 can selectively supply substrates stacked in different ways. The feed system 2 can supply substrate stacks 4 consisting of substrates that are stacked without separation or of substrates separated by stacking aids.

[0032] The gripper system(s) 3.2 of the robot cell 3, in particular the two-arm robot 3.1, preferably remove stacking aids from supplied substrate stacks 4. This can be achieved by grasping the stacking aids using one or both gripper systems 3.2 of the two-arm robot 3.1. The stacking aids can be, for example, stacking boards 6 or spacer plates 7, which mechanically separate different sub-stacks of the substrate stack 4, at least partially. The stacking aids, in particular stacking boards 6 and / or spacer plates 7, are removed from the substrate stacks 4 containing the stacking aids by means of the gripper system(s) 3.2 of the robot cell 3, in particular the two-arm robot 3.1. The stacking aids are preferably placed on a collection point and / or in a collection container.

[0033] Preferably, the stacking aids, such as stacking boards 6 and / or spacer plates 7, are sorted and / or collected. For collection, a collection point and / or a collection container can be provided, into which the stacking aids, in particular stacking boards 6 or spacer plates 7, are placed by the gripper system(s) 3.2 of the robot cell 3. The stacking aids, in particular stacking boards 6 or spacer plates 7, can be transported to the collection point or into the collection container, for example, by means of one or both gripper systems 3.2 of the two-arm robot 3.1. Several collection points or collection containers can also be provided, for example, for different types of stacking aids. This allows for the separation of different stacking aids or different types of stacking aids.

[0034] The Fig. Figure 4 shows, for example, a substrate handling system for the automated preparation of banknote sheets in the production process, viewed from above. A substrate stack 4 to be processed can be fed from a feed system 2 to a robot cell 3. The two-arm robot 3.1, with its gripper systems 3.2, can handle the substrate stack 4 provided by the feed system 2 at the staging station 2.1. Furthermore, a storage area for stacking boards 6 and / or a storage area for spacer plates 7 is provided within the handling area of ​​the two-arm robot 3.1. The two-arm robot 3.1 can, for example, align and / or rotate or turn sub-stacks picked up within the handling area. For example, gripped sub-stacks can be rotated by 180°.

[0035] The Fig. Figure 5 shows a top view of a feed system 2 with logistics system 2.2, in particular for transporting containers 2.3 containing substrate stacks 4. The logistics system 2.2 can, for example, include conveying systems such as conveyor belts, which can move pallets 5 and / or one or more containers 2.3. A pallet 5 or a container 2.3 can be conveyed by the logistics system 2.2, in particular automatically, to the staging area 2.1 or positioned in the staging area 2.1.

[0036] Such a container 2.3 can contain substrate sheets to be processed. Preferably, the container 2.3 provides separate partial stacks by means of stacking aids, in particular stacking boards 6. The loading of the container 2.3 with substrate sheets or with stacking boards 6 and partial stacks can be carried out, for example, by the feed system 2 or upstream, for example, manually or automatically. A container 2.3 loaded in this way with stacking boards 6 and substrate sheets can, for example, be placed on a conveyor belt. By means of the feed system 2, this container 2.3 then moves to the staging position 2.1 for the robot cell 3 for automated stack preparation. At the staging position 2.1, a stacking board 6 with, for example, 100 to 500 substrate sheets can then be removed, in particular by the two-arm robot 3.1. Preferably, the two-arm robot 3.1 removes the substrate sheets from the stacking board 6 and handles or...It manipulates (ventilates, loosens, etc.) these. The two-arm robot 3.1 can then push the stacking board 6 back into container 2.3 or deliver it to a collection point or container.

[0037] Preferably, an empty pallet 5 or an empty container 2.3 can be conveyed or removed by a logistics system 2.2. The logistics system 2.2 can be configured such that a new pallet 5 or a new container 2.3 is simultaneously fed into it. This allows the robot cell 3, in particular the two-arm robot 3.1, to be continuously supplied with substrates on pallets 5 and / or containers 2.3 for handling.

[0038] In particular, a pallet 5 with a substrate stack 4 can, for example, be placed by an operator onto a conveyor belt of the logistics system 2.2, which then feeds the pallet 5 to an actuating element, in particular a lifting element, of the staging area 2.1 for vertical relocation. Specifically, the pallet 5 is conveyed by the logistics system 2.2 into a lifting frame in the area of ​​the staging area 2.1. The positioning in the staging area 2.1 can be adjusted according to the sheet format. Specifically, the lifting frame can raise the pallet 5 to a working height for the two-arm robot 3.1 or the gripper systems 3.2. The two-arm robot 3.1 then picks up a defined number of sheets according to a defined gripping pattern, for example, diagonally or at the leading edge, etc. It can also be provided that the substrate sheets are secured against slippage, particularly during a counting process or during removal, by means of hold-down devices.For example, this can be achieved by a movable hold-down device located in the area of ​​the lifting frame. The uppermost substrate arch, for instance, can be fixed from above by one or more hold-down elements.

[0039] After grasping the substrate sheets, the two-arm robot 3.1 can perform a "loosening and aeration" movement while transporting the substrate sheets to a storage area. This storage area can be positioned approximately perpendicular to the staging area 2.1 relative to the two-arm robot 3.1. For example, the substrate sheets are placed there on a non-stop rake. During storage, the new substrate stack 4 can be aligned using a four-sided vibrator, with the option of selecting different reference edges. The non-stop rake can move downwards, particularly when further sub-stacks are being added, so that the storage height for the two-arm robot 3.1 remains constant. If the new substrate stack 4 needs to be turned, a turning device can be used. This turning device can be positioned, for example, above the non-stop rake.In the turning device, the sheets are guided between rods with one edge facing down, and then a turning rod rotates to turn them. This movement advantageously avoids bent sheet edges and dog-eared corners.

[0040] Once the substrate stack 4, positioned at staging station 2.1, has been processed, the non-stop rake carrying the handled substrate sheets preferably moves onto a new non-stop system pallet 5 located on the floor. Preferably, the non-stop rake is lowered vertically until its support bars engage in the recesses of the non-stop system pallet 5, thus transferring the substrate sheets to the non-stop system pallet 5. After removing a front support beam provided for the non-stop rake, the non-stop system pallet 5, which carries the substrate sheets to be processed by the processing machine 1, can preferably be removed automatically. In particular, the empty pallet 5 or the empty container 2.3 on the input side of the robot cell 3, especially at staging station 2.1, is also removed. For example, empty pallets 5 can be conveyed under the two-arm robot 3.1, particularly into a magazine.This can also be done through the Logistics System 2.2.

[0041] The Fig. Figure 6 shows, for example, substrate stacks 4 fed into the substrate handling system by the feed system 2. On the left, an unprepared substrate stack 4 is shown, illustrating how it can be conveyed by the feed system 2 to the robot cell 3. For example, the substrate stack 4 may have slanted or wavy edges and / or contain protruding single or multiple sheets. On the right, a substrate stack 4 with stacking aids is shown. For example, the substrate stack 4 may contain sub-stacks separated by stacking boards 6 or spacer plates 7.

[0042] The Fig. Figure 7 shows, for example, a substrate stack 4 processed by the substrate handling system and collected stacking aids. The processed substrate stack 4 can be provided on a pallet 5 or non-stop system pallet 5 by the robot cell 3 or by the processing machine 1. The substrate stack 4 can preferably be provided as an aligned stack of sheets without interposed stacking aids. If stacking aids were originally present, they can be stored in a collection container or at a collection point, particularly for reuse. For example, stacking boards 6 can also be collected on a pallet 5. Spacer plates 7 can, for example, be stored in a warehouse. By means of a logistics or...The transport system can automatically relocate or transport the finished substrate stacks 4 and / or the collected stacking aids, in particular stacking boards 6 stacked on a pallet 5 and / or spacer plates 7 collected in a container.

[0043] A new substrate stack 4 is delivered to the substrate handling system by the feed system 2 at the defined staging area 2.1. The substrate stack 4 may have been generated or formed by a processing machine, for example, as described above. Preferably, during the handling of the substrate stacks 4 by the robot cell 3, sub-stacks are picked from the supplied substrate stacks 4, and the substrates of the respective sub-stack are handled, in particular separated, loosened, and / or aerated. A supplied substrate stack 4 can also be detected by sensors in the substrate handling system and handled according to the sensor values. The robot arms or gripper systems 3.2 of the robot cell 3, in particular of the two-arm robot 3.1, are preferably controlled or regulated according to predefined instructions, depending on the determined supplied substrate stacks 4.

[0044] Substrate stacks 4 placed at the defined staging area 2.1 are preferably subjected to an incoming stack inspection, possibly after a release or start signal, by preferably optical measuring systems. For example, the geometry of the substrate stack 4 (format, size of charge carriers, height, waviness, etc.) and / or the stack quality (e.g., for protruding arcs) can be checked. The geometry of the substrate stack 4 can be captured by an optical measuring system, for example, by a camera, in particular a 3D camera, and / or a laser scanner, and compared with an ideal. If the deviations are greater than defined, the substrate stack 4 in question can be rejected by the system or not released for processing. It is also possible that the system measures the substrate stack 4 up to the point where it deviates from the ideal.The system processes the position and then informs the operator so they can resolve the issue (e.g., a protruding sheet). Afterwards, the system can continue processing substrate stack 4.

[0045] Preferably, sheet detection can be performed, preferably with the transmission of the determined data to robot cell 3 and / or processing machine 1, in particular a printing press. Particularly preferably, the detection of the upper substrate sheet can be performed, optionally with the determination of its associated lot number. This can result in knowledge of all sheets or substrates present in the current lot. Preferably, this information is transmitted to processing machine 1, for example, a printing press, especially if it is connected inline. Alternatively or additionally, the data can be stored, for example, for documentation purposes, particularly within the system.

[0046] Furthermore, sheets or substrates can be counted. In particular, sheet counting can be done mechanically. The substrate sheets can be counted to a preset value using a mechanical sensor attached to a linear axis, a robot arm, a gripper system 3.2, or a separate arm. For example, in finishing processes, an exact number of substrate sheets may be necessary. This is achieved primarily with mechanical vacuum counting discs 9 and cannot be done via indirect measurement (stack height, optical characteristics, etc.). This counting method can also be used for seamless traceability of the substrates or printing materials.

[0047] The Fig. Figure 8 shows, for example, a vacuum counting disc 9, which can be used in the substrate handling system, particularly in the robot cell 3, for sheet-accurate counting of the substrate sheets. In this context, or simultaneously, a measuring system can identify a characteristic assigned to the substrate stack 4, such as a lot number.

[0048] The substrate sheets can be separated from the substrate stack 4 using the gripper systems 3.2 by separating a precisely counted number of substrate sheets from the substrate stack 4 and then gripping them. For counting, a gap can be created in the substrate stack 4, with a wedge-shaped plate, for example, separating a sub-stack from the main stack. The sub-stack to be counted can also lie on the plate across its entire width during the counting process. Subsequently, the defined number of substrate sheets can be counted using a measuring system, in particular the vacuum counting disc 9, and preferably separated or prepared for gripping. If no counting has taken place, an approximate quantity of substrate sheets can be removed or gripped. This quantity can also be determined, for example, by optical height measurement.

[0049] Depending on the substrate supplied, a movement previously defined, particularly by the operator, can be performed with the substrate sheets in robot cell 3, especially by the two-arm robot 3.1. This movement can be used, in particular, to break open or unblock the substrate sheets. For example, such information can be determined from the detected features, such as the lot number.

[0050] The Fig. Figure 9 shows, for example, a two-arm robot 3.1 with an interchangeable gripper. A vacuum counting disc 9 is arranged as an interchangeable gripper directly on the robot or on a robot arm. Accordingly, the vacuum counting disc 9 can be activated or positioned so that the two-arm robot 3.1 can move into the substrate stack 4 with the vacuum counting disc 9. The vacuum counting disc 9 or the robot arm stops after a defined number of substrate sheets. Subsequently, the substrate stack 4 can move downwards, or the robot arm with the vacuum counting disc 9 moves upwards, creating a gap through the relative movement. A gripper system 3.2, for example, the opposite gripper system 3.2 of the two-arm robot 3.1, can then grasp the substrate stack 4 and handle the counted substack. The arm of the two-arm robot 3.1 equipped with the interchangeable gripper can then...1 During this time, for example, the tool can be changed using a gripper turret on the arm or externally, and the separation process can continue.

[0051] The Fig. Figure 10 shows a top view of a robot cell 3 with a vacuum counting disc 9 mounted on a frame 10. The frame 10 can, for example, be located adjacent to the staging area 2.1 and can be either rigid or movable. The frame 10 can, for example, include one or more linear axes for the movable mounting of a vacuum counting disc 9.

[0052] The Fig. Figure 11 shows a vacuum counting disc 9 arranged on the frame 10 for counting the substrate sheets of the substrate stack 4. The vacuum counting disc 9 is externally attached to the frame 10 or holder. The movable vacuum counting disc 9 moves into the substrate stack 4 until a defined number of substrate sheets is reached. The mechanical sensor, inserted between two immediately adjacent substrate sheets, then moves upwards slightly and / or the substrate stack 4 is moved downwards slightly, such that a gap is created by the relative movement. Subsequently, one or both gripper systems 3.2 can grasp the substrate stack 4 and handle the counted substack.

[0053] The Fig. Figure 12 shows perspective views of a vacuum counting disc 9 for counting the substrates to be handled with arc-level precision. Using a mechanical sensor, in particular a counting disc 9.1, which moves between the substrates, the substrates are counted with arc-level precision and, if a sufficient or intended number is reached, separated to form a gap. The vacuum counting disc 9 can be mounted on one arm of the two-arm robot 3.1, on a separate frame 10, or on a separate arm.

[0054] A vacuum counting disk 9 can, for example, have a motor 9.3 which rotates the counting disk 9.1. A vacuum can be applied to the counting disk 9.1 via a vacuum hose 9.2, which is used at the underside of the counting disk 9.1 to draw in and lift the uppermost substrate sheet. The rotating counting disk 9.1 has at least one special recess (not shown) on its circumferential edge to detect each substrate sheet individually during its rotation. The position of the counting disk is determined, in particular, by a measuring device 9.4. Since the counting disk 9.1 engages each substrate sheet individually during the counting process, a gap can be created for handling the counted substack by the two-arm robot 3.1 when a defined number of substrate sheets have been counted.

[0055] The Fig.Figure 13 shows some feasible movements of the two-arm robot 3.1 for various applications and substrates. The selection of movements to be performed can, for example, be predefined or deduced from measured values. Furthermore, the substrate sheets can be moved vertically through a structure of two parallel tubes before being deposited. This structure preferably bends the defined number of substrate sheets continuously during the upward movement from the front and back, alternating between the two. The resulting relative movement between the individual substrate sheets can thus represent a further separation step.

[0056] Furthermore, the substrate sheets can also be ventilated, for example, while they are being unblocked by the gripper systems 3.2 of the two-arm robot 3.1. In particular, air can be blown between the substrate sheets while the gripper systems 3.2 of the two-arm robot 3.1 unblock them through a defined movement. Because the substrate sheets are only held at two defined points by the gripper systems 3.2, their position "floats."

[0057] Depositing, collecting, and aligning the substrate sheets can be achieved by placing the picked partial stacks onto the unloading table or vibrating table 8. However, it is also conceivable that a vibrating device is integrated into the unloading table. This ensures that the substrate sheets are positioned in the correct register on a pallet 5 or non-stop system pallet 5. The substrate sheets can be collected and aligned on a vibrating device, particularly on the vibrating table 8, into stacks of, for example, 1,000 to 10,000 sheets. Subsequently, the collected substrate sheets can be transferred to a pallet 5 or non-stop system pallet 5, and the pallet 5 or non-stop system pallet 5 can be fed into the feeder 1.1 or non-stop feeder 1.1 of the processing machine 1. This can be done without further manipulation by the operator for a direct stack change in the feeder 1.1 or non-stop feeder 1.1 of the processing machine 1, in particular printing machine or finishing machine, for example for cutting and / or inspection. List of reference symbols used 1 processing machine 1.1 Investors, Non-Stop Investors 1.2 Printing work 1.3 Display 2. Feed system 2.1 Staging area 2.2 Logistics system 2.3 Container 3 robot cells 3.1 Two-arm robot 3.2 Gripper systems 4 substrate stacks 5 pallet, non-stop system pallet 6 stacking boards 7 spacer plates 8 Shaking table 8.1 Swivel stop 9 vacuum counting disc 9.1 Counting disc 9.2 Vacuum hose 9.3 Engine 9.4 Measuring device 10 frames

Images