Apparatus and method for removing piles

Abstract

The present invention provides a device that enables increased processing speed during pile depalletization. [Solution] A device for removing a pile, wherein the pile is composed of partial piles consisting of a plurality of flat printed products arranged side by side and above and below each other, the device (1) comprises a separation device for preferably temporarily forming a space between each partial pile and a pile, and a gripping device for gripping and lifting each partial pile using each space, the device (1) comprises a first robot (40) for moving the gripping device when removing, and the device (1) comprises a second robot (50) for separately moving the separation device.

Description

Technical Field

[0007] ,

[0001] Invention The present invention relates to each apparatus for removing a pile having the features of the preamble of claim 1 or claim 19.

[0002] The present invention relates to a method for removing a pile having the features of the preamble of claim 22.

[0003] Technical Field The present invention is positioned in the technical field of the graphic industry, and more particularly, flexible products that are vertically positioned relative to each other, preferably printed and punched flat products, such as printed sheets or punched and cut pieces preferably made of paper, cardboard, paperboard, plastic or composite materials, and the pile is handled (e.g., gripped, held, lifted, moved, placed) by a manipulator, particularly a robot equipped with a robot arm and a gripper device for the pile.

[0004] Background Art It is already known to depalletize sheet piles using robotic technology and to partially separate the piles before gripping and lifting.

[0005] International Publication No. 2017 / 177393 discloses a depalletizing system for piles, comprising a robot arm and a gripping head, the gripping head being arranged on the robot arm and being moved during depalletizing by the robot arm. The gripping head as a gripping device comprises an upper gripper and a lower gripper. Further, the gripping head comprises a separating device formed as a hook. Thus, the gripping device and the separating device are moved together by the same robot arm and the robot has to be dimensioned accordingly.

[0006] It is also already known to use a plurality of robots during depalletizing.

[0007] U.S. Patent Publication No. 20100146907 and U.S. Patent Publication No. 20170173800 disclose systems in which two identical robots are used in the palletizing / depalletizing domain, that is, the robots are identically configured, including their tools, and perform the same task (individually or together).

[0008] Manufacturers of graphic products, such as printing companies that handle prepress, actual printing, and post-print processing, have a continuous demand for increased production speed, and therefore, robotic technology is often used. Furthermore, this allows for personnel reduction or the replacement of absent personnel.

[0009] Technical challenges Therefore, the object of the present invention is to provide an improvement over the prior art, in particular, that makes it possible to increase the processing speed during pile depalletization.

[0010] Means for solving problems through invention This problem is solved by each of the devices described in claim 1 or claim 19 according to the present invention.

[0011] This problem is solved by the method described in claim 22, according to the present invention.

[0012] A first apparatus according to the present invention for unloading (or alternatively, depalletizing) a pile, wherein the pile is composed of a plurality of partial piles consisting of flat printed products arranged side by side and above and below each other, the apparatus comprising a separation device for preferably temporarily forming a space between each partial pile and a gripping device for gripping and preferably lifting each partial pile using each space, the apparatus comprising a first robot for moving the gripping device during unloading, the first apparatus comprising a second robot for separately moving the separation device.

[0013] A second apparatus according to the present invention for removing pile, wherein the pile is composed of partial piles consisting of a plurality of flat printed products arranged side by side and above and below each other, and the apparatus comprises a first robot equipped with a gripper device, the second apparatus is characterized in that the apparatus comprises a second robot equipped with a separation device.

[0014] A method according to the present invention for removing a pile composed of partial piles consisting of a plurality of flat printed products arranged side by side and above and below each other, wherein the partial piles are first sequentially separated from the pile by forming a gap, and then grasped and lifted, the method characterized in that the separation is performed by a separation device located on a first robot and moved by the first robot, and the grasping and lifting is performed by a grasping device located on a second robot and moved by the second robot.

[0015] Advantageous and preferred improved forms of the present invention are evident from the dependent claims, specification, and drawings.

[0016] Advantageous configuration and effect of the invention The present invention advantageously allows for increased processing speed during pile depalletization. The present invention can be used, for example, in the post-press area (post-printing processing).

[0017] This invention divides both process steps, namely separation and gripping, into two handling devices. Advantageously, this invention allows for the parallelization of process steps during depalletizing by using two robots, thereby increasing the speed of the work process, particularly the cycle time. A further advantage of this invention is the ability to use identical robots (equipped with gripping and separating devices, which are different tools from each other), thereby reducing complexity and, consequently, cost.

[0018] Individual flat printed products may be cut pieces for folding boxes, and these cut pieces for folding boxes may be depalletized and then fed into a folding box gluing machine. Alternatively, the products may be depalletized and newly palletized onto another pallet, thereby, for example, creating a homogeneous pallet from a so-called mixed pallet or, for example, producing a tighter packaging pattern.

[0019] Improved form of the invention The following describes preferred improved forms (abbreviated as "improved forms") of the present invention as a first apparatus. These improved forms may be combined with each other unless technically excluded.

[0020] One improved configuration may be characterized in that the gripping device is formed as a gripping head movably positioned on a first robot. The gripping head may have a compact structural form. The gripping head may be specified to be rotatable on the first robot, in particular about a vertical axis. The gripping head may be specified to include a gripper pair consisting of a lower gripper and an upper gripper. In this case, the upper gripper may be reciprocable in the direction of the lower gripper, in particular in the vertical direction. The separation device may be specified to be formed as a separation head movably positioned on a second robot. The separation head may also have a compact structural form. The separation head may be specified to be rotatable on the second robot, again, in particular about a vertical axis. A void may be formed between the lower surface of each partial pile (the lowest printed product) and the upper surface of the pile located below this lower surface (the uppermost printed product). The lower gripper may be specified to be able to move completely or partially within the space, particularly in the horizontal direction.

[0021] One improved configuration may feature a separation head comprising a first lifter for partially, preferably temporarily, lifting a partial pile to form a void. The void is preferably temporarily formed, i.e., only formed until the partial pile is grasped and then lifted from the pile, particularly the pallet pile. The first lifter may be specified to contact the vertical surface of the partial pile when lifted. The first lifter may be pressurized. The separation head may be specified to comprise a second vertically movable lifter for partially, preferably temporarily, lifting a partial pile to form or reform the void. Both lifters may be pneumatically actuated. The second lifter may be specified to contact, particularly engage from below, the horizontal underside of the partial pile when lifted. The second lifter may be specified to enter between the bottommost product of the partial pile and an intermediate layer located below this product, such as a cardboard sheet.

[0022] One improved embodiment may be characterized in that the separation head comprises at least one controllable drive for moving a first lifter and / or a second lifter horizontally. Preferably, one common drive is provided. This drive may be specified to be an electrically operated linear drive. This electrically operated linear drive may have at least three horizontal positions, in which the first position both lifters are in an invalid position outside the partial pile, in the second position only the first lifter is in an effective position relative to the partial pile, and in the third position both lifters are in their respective effective positions relative to or below the partial pile.

[0023] One improved configuration may be characterized by the separation head comprising a vertically movable presser, which is preferably pneumatically operated. The separation head may be specified to separate partial piles at least partially, for example, less than 10%, 5%, or 1% of the area of ​​the lowest printed product. The separation head may be specified to separate partial piles from the pile only in the lower edge region. The separation head may be specified to form a gap between the partial piles and the pile, which is preferably less than 10 mm or 5 mm in height. The separated partial piles may be specified to remain on the pile in the working area of ​​the presser, which is the area in which the presser presses the partial piles downward against the pile. A gripping head or at least a portion of a gripping head, in particular at least one fork of a gripping head, may be specified to enter the gap.

[0024] One improved configuration is characterized by the device comprising a digital computer that controls the movement of a first robot and the operation of a gripping device, and the movement of a second robot and the operation of a separation device, such that a partial pile is first separated from the pile and then grasped. The separated and grasped partial pile may be specified to be lifted from the pile and moved away from it. The partial pile may be specified to be placed elsewhere, i.e., not in the location of the pile, for example in a subsequent processing machine. The pile may be configured in accordance with a placement scheme for the partial pile, and the digital computer may be specified to control the movement of the first robot and the movement of the second robot in accordance with the placement scheme when the pile is dismantled. The placement scheme specifies the position and orientation of each individual partial pile in the pile (overall), and preferably also specifies the XYZ dimensions of the partial pile. The apparatus may be specified to include a detection device, i.e., a device for geometrically detecting piles, areas of piles, at least one sub-pile and / or areas of at least one sub-pile. The detection device may be specified to be positioned invariably within the apparatus. The detection device may be specified to be positioned movable, for example, automatically displaceable. The detection device may be specified to be positioned on a separation head. The detection device may be specified to include at least one camera and / or line scanner. The detection device may be specified to provide data, which a digital computer uses for target / actual compensation adjustments with a placement schema. In this case, the digital computer can identify whether a sub-pile is mispositioned or displaced, and this can be preferably corrected and taken into account during depalletization.

[0025] One improved embodiment may be characterized in that the gripping head is located on the first robot. Another improved embodiment may be characterized in that the gripping head is controllable so that the first robot is movable in three spatial directions, namely the horizontal longitudinal direction X, the horizontal transverse direction Y, and the vertical height direction Z. The first robot may be specifically characterized as being formed as a first gantry robot having three translation axes. The gantry frame provides a cubic workspace which is well suited to the process of removing a pile that is substantially cubic on the outside from a (square) pallet. The first gantry robot may be specifically characterized to have a first longitudinal guide in the X direction. The first gantry robot may be specifically characterized to have a first transverse guide in the Y direction. The first gantry robot may be specifically characterized to have a first vertical guide in the Z direction. The first gantry robot may be specifically characterized to have a first vertical support in the Z direction. The gripping head may be specified to be rotatable about at least one first pivot axis on a first vertical guide. The first pivot axis may be specified to be a vertical axis.

[0026] One improved form may be characterized in that the lower gripper comprises at least one fork. At least two forks may be present, and these forks may be specified to be resizable, for example by hand or automatically and / or interchangeable. The upper gripper may be specified to comprise at least one fork. At least two forks may be present, and these forks may be specified to be resizable, for example by hand or automatically and / or interchangeable. The upper gripper may be specified to be pneumatically movable relative to the lower gripper. The upper gripper may be specified to be vertically movable.

[0027] One improved form may be characterized in that the gripping head comprises a lower gripper, an upper gripper, and a drive device for this movable upper gripper. It may be specified that this drive device is a hydraulic cylinder. It may be specified that the drive device is controllable.

[0028] One improved form may be characterized in that the separation head is arranged on a second robot. It may be specified that the second robot is controllable such that the separation head is movable in three spatial directions X, Y, Z. It may be specified that the second robot is formed in particular as a second gantry robot having three translational axes. It may be specified that the second gantry robot comprises a second longitudinal guide in the X direction. It may be specified that the second gantry robot comprises a second transverse guide in the Y direction. It may be specified that the second gantry robot comprises a second vertical guide in the Z direction. It may be specified that the second gantry robot comprises a second vertical support in the Z direction. It may be specified that the separation head is arranged on the second vertical guide such that it is rotatable about at least one second rotation axis. It may be specified that the second rotation axis is a vertical axis.

[0029] One improved form may be characterized in that the movement of the gripper device and / or the movement of the separation device develops in one common working space. In this case, this working space may be defined by the sum of all reachable or necessarily reachable places within the X - Y - Z space. It may be specified that the pile is arranged completely or at least partially within the working space for disassembly.

[0030] One improved configuration may be characterized in that the first and second robots are formed as gantry robots and are arranged on a single common gantry frame. This configuration reduces the risk of robot collisions compared to two articulated arm robots working together. Furthermore, the gantry frame preferably prohibits operator access during continuous operation and, for this purpose, preferably defines a safety area that is access-monitored. The gantry frame may be specified to have a plurality, particularly four, of supports that preferably unfold a cubic intermediate space. The workspace may be located within the intermediate space, and in particular, the workspace may be specified to be smaller than the intermediate space. The first and second robots may be specified to have the same structure. The piles may be stacked on pallets, which may be specified to be located within the intermediate space, preferably on the floor of the production plant or on a conveying device, for the purpose of dismantling the piles. The pallets may be specified to be movable into the intermediate space from at least one side. The pallets may be specified to be movable into the intermediate space from two or three sides. The movement of the pallets may be specified to be automated and carried out by a mobile FTF (Automated Transport Vehicle) or automated and carried out by a pallet handling device installed on or within the floor.

[0031] A preferred improved form of the present invention (abbreviated as "improved form") as a second device is described below. This improved form may also be combined with others if it does not technically need to be excluded.

[0032] One improved configuration may be characterized by the device comprising a third robot having an additional gripping device. The first and second robots may be specified as gantry robots. The first and second robots may be specified as being arranged on a single common gantry frame. The third robot may be specified as being formed as an articulated arm robot. The third robot may be specified as a gantry robot, preferably having the same structure as the first and second gantry robots. The first, second, and third robots may be specified as being arranged on a single common gantry frame having four or six supports in particular. In this case, the workspaces of each of the three robots may partially overlap, particularly for handing over partial piles at handover points.

[0033] The following describes preferred improved forms (abbreviated as "improved forms") of the present invention as a method. These improved forms may be combined with each other unless technically excluded.

[0034] One improved configuration may be characterized by a second robot placing the partial pile into a temporary storage unit (or, alternatively, a buffer). A third robot, equipped with an additional gripping device, may be specified to lift the partial pile from the temporary storage unit and place it again elsewhere. In this example, the temporary storage unit may be considered a handover point. The configuration may be specified to place the pile back onto the feeder of a subsequent processing machine.

[0035] One improved version may be characterized by the second robot transferring a partial pile to a third robot equipped with an additional gripping device without temporary placement. In this case, the transfer may be carried out freely "in mid-air".

[0036] One improved configuration may be characterized by the temporary storage unit comprising multiple temporary storage locations. These temporary storage locations may be specified to be arranged horizontally, for example, side by side in the lateral direction Y. The temporary storage locations may be specified to be arranged vertically, for example, one above the other in the Z direction. The temporary storage locations may be specified to be arranged in a temporary storage rack. This rack may comprise multiple rack planes arranged vertically above and below each other. The second robot may be specified to fill the temporary storage locations from one longitudinal side, and the third robot may be specified to empty the temporary storage locations from the opposite longitudinal side or one lateral side. The second robot may be specified to fill the temporary storage locations from one lateral side, and the third robot may be specified to empty the temporary storage locations from the opposite lateral side or one longitudinal side. Thus, both robots or their gripping devices can grasp the portion pile to be handed over with a 90° or 180° offset.

[0037] It may be specified that at least one temporary storage area is formed as a projection surface. In this case, the projection (or alternatively, a projection in particular in the Z direction) is preferably positioned and spaced apart from one another so that the fork of the lower gripper can temporarily enter between the projections below the partial pile and exit from there, thus supporting or lifting the partial pile. The projections may be arranged in a regular pattern. The fork may preferably be selectively allowed to enter and exit from one longitudinal side or one transverse side.

[0038] The technical features disclosed in the paragraphs describing the technical fields, the present invention, and improved embodiments, as well as the paragraphs describing the examples, may constitute further advantageous improved embodiments of the present invention as a combination of features that can be learned from this application.

[0039] Examples and drawings for the invention Figures 1 to 8 show preferred embodiments of the present invention and improved forms. In the figures, corresponding features are denoted by the same reference numerals. For clarity, some repetition of reference numerals in the figures has been omitted. [Brief explanation of the drawing]

[0040] [Figure 1] This is a perspective view of a preferred embodiment of the apparatus according to the present invention. [Figure 2] This is a side view of the device. [Figure 3] This is a side view of the device. [Figure 4] This is a plan view of the device. [Figure 5] This is a side view of a suitable gripping device. [Figure 6] This is a side view of a suitable separation device. [Figure 7A] This diagram shows the order in which voids are formed. [Figure 7B] This diagram shows the order in which voids are formed. [Figure 7C] This diagram shows the order in which voids are formed. [Figure 7D] This diagram shows the order in which voids are formed. [Figure 7E] This diagram shows the order in which voids are formed. [Figure 7F] This diagram shows the order in which voids are formed. [Figure 8] This is a schematic side view of a preferred embodiment of the apparatus according to the present invention. [Figure 9] These are two side views of the protruding surface.

[0041] Figure 1 shows an apparatus 1 according to the present invention for carrying out the method according to the present invention for unloading a pallet 2 or piles 2 located on the pallet 2 (see Figures 2 and 3). In this case, the stacked printed products 4 each form a partial pile 5, and these partial piles 5 together form a pile 3.

[0042] Device 1 comprises, for example, a gantry frame 30 with four columns, the columns defining an intermediate space 32, within which a robotic workspace 33 is located. Pallets 2 with piles 3 may be moved into the workspace 33 for unloading, preferably in different directions of motion 90. The gantry frame has one longitudinal side 75, a longitudinal side 76 opposite to this longitudinal side 75, one transverse side 77, and a transverse side 78 opposite to this transverse side 77, and the movement of the pallet 2 into the workspace may be from one of the longitudinal sides or one of the transverse sides. The movement of the pallet 2 (into and out again) is performed, for example, by an FTF 85, or alternatively, preferably by an underfloor pallet transport device 86, but may also be performed manually by a lift truck.

[0043] Apparatus 1 includes a first robot 40, which is a gantry robot and is formed on a gantry frame 30 that includes a first longitudinal guide 41 (X direction), a first lateral guide 42 (Y direction) movable in the X direction, a first vertical guide 43 (Z direction) movable in the Y direction, a first vertical support 44 (Z direction), and a first pivot axis 45 provided at the end of the vertical support 44. The first robot 40 may perform motion 98a in directions X, Y and / or Z.

[0044] Apparatus 1 further comprises a second robot 50, which is also formed on the gantry frame 30 as a gantry robot, but the gantry frame 30 comprises a second longitudinal guide 51 (X direction; in this example, identical to the first longitudinal guide 41), a second lateral guide 52 (Y direction) movable in the X direction, a second vertical guide 53 (Z direction) movable in the Y direction, a second vertical support 54 (Z direction), and a second pivot axis 45 provided at the end of the vertical support. The second robot 50 may perform motion 98b in directions X, Y and / or Z.

[0045] Both robots 40 and 50 are gantry robots and are equipped with conventional drive units for the X, Y, and Z motion of their respective tools.

[0046] The coordinated, collision-free movements of both robots 40, 50, or both, are controlled by a digital computer 82. This digital computer 82 accesses a digitally stored placement pattern 83 used in the pile 3 that is currently to be dismantled. A digital camera 84 is also present in the gantry frame 30, which can detect the pile 30, recognize deviations from the placement pattern 83, and correct them as needed.

[0047] The device 1 is shown from the longitudinal side 75 in Figure 2 and from the transverse side 77 in Figure 3.

[0048] As can be seen from Figures 1-3 and Figure 5, the first robot 40 is equipped with a movable gripping device 20, which comprises a gripping head 21 for gripping one partial pile 5 each. The gripping head 21, as a robot-guided tool, is movable (movement 91, 92) or positionable in the X, Y, and Z directions and rotatable about the Z axis. The gripping head 21 comprises a gripper pair 22 consisting of a lower gripper 23 with a fork 24 and a vertically movable upper gripper 25 with a fork 26. The gripping device 20 comprises a controllable drive 27 for rotational motion of the gripping head 21. The gripping head 21 comprises a controllable drive 28 for translational motion (movement 94) of the upper gripper 28, i.e., for grasping the partial pile 5.

[0049] Furthermore, as can be seen from Figures 1 to 3 and Figure 6, the second robot 50 is equipped with a movable separation device 10, which comprises a separation head 11 for separating one partial pile 5 each. The separation head 11, as a robot-guided tool, is movable or positionable in the X, Y, and Z directions and rotatable about the Z axis. The separation head 11 comprises a first lifter 12, a second lifter 13, and a presser 15. The separation device 10 comprises a controllable drive 17 for rotational motion of the separation head 11. The separation head 11 comprises a controllable drive 18 for translational motion of the presser 15 and a controllable drive 19 for translational motion of both lifters 12 and 13.

[0050] Figure 4 shows the apparatus 1 in a plan view. At least within the working area of ​​the gripping device 20, there is a temporary storage section 70, which is formed as a horizontally positioned projection surface 71 with upwardly extending, patterned projections 71, on which at least one partial pile 5 may be temporarily placed and thus temporarily stored until it is received again. The temporary storage section 70 is part of a temporary storage rack 73 having at least two temporary storage spaces 74 that are vertically separated from each other and sufficiently separated from each other (corresponding to the maximum height of the partial pile 5 to be handled), in which case only the uppermost temporary storage space 74 can be seen in Figure 4. Also, as can be seen in the plan view, the separation head 11, in particular its lifter, and the gripping head 21, in particular its forks, are configured to move without collision during separation and gripping, for example, the lifter may be temporarily positioned between the forks. Finally, it can be acknowledged that the lateral guides 42 and 52 of both robots 40 and 50 are not moved to pass each other; that is, this must be taken into consideration in the motion control. However, alternatively, it may be specified that multiple longitudinal guides are located, for example, above and below each other, thereby enabling motion that passes each other.

[0051] Figure 5 shows a gripping device 20 comprising a gripping head 21, a gripper pair 22, a lower gripper 23, a lower gripper fork 24, an upper gripper 25, an upper gripper fork 26, a drive unit 27, and a drive unit 28. In order to grip and lift the partial pile 5, the open gripper pair 22 enters the pile 3 and is then closed (lowering of the forks 26). However, first the partial pile 5 is separated from the pile 3 (see the order in Figures 7A to 7F).

[0052] Figure 6 shows a separation device 10 comprising a separation head 11, a first lifter 12, a second lifter 13, a presser 15, and drive units 17, 18, and 19. Furthermore, the working area 16 of the presser is shown. Both lifters 12 and 13 are movable to a horizontal position 14 to separate the partial pile 5 (see Figures 7A to 7F in order).

[0053] Figures 6 and 7A to 7F show a series of steps involved in forming the void 7. Figure 6: The separation device 10 is moved vertically and horizontally to approach the portion pile 5 to be handled (movement 92). Figure 7A: The presser 15 is moved downward, pressing the partial pile 5 downward toward the pile 3 in its area of ​​action 16 (movement 97), or pressing toward the upper surface 3a of the (remaining) pile 3 located below the partial pile 5. Figure 7B: The first lifter 12 is moved horizontally to the vertical surface 5c of the partial pile 5 and comes into contact with this surface 5c (movement 95). In this case, the first lifter 12 or its contact element 12a is pressed against the surface 5c by a spring. Figure 7C: The robot 50 lifts the first lifter 12 (movement 92), and at the same time, the presser 15 is moved sufficiently downward (movement 97). In this case, the first lifter 12 lifts the partial pile slightly, and a space 7 is formed between the horizontal lower surface 5a or the lowest product 6 of this partial pile 5 and the upper surface 3a. Figure 7D: The second lifter 13 is lowered to the level of the void 7 (motion 96), and if an intermediate layer 8 exists within the pile 3, it is lowered to this intermediate layer. Figure 7E: The second lifter 13 or its lifting element 13a is moved horizontally into the space 7 (movement 96). Figure 7F: The robot 50 lifts the first lifter 12, including the second lifter 13 (movement 92), and at the same time, the presser 15 is moved downward again sufficiently (movement 97). In this case, the already existing space 7 is increased. Thus, the partial pile 5 is sufficiently separated from the pile in the area of ​​its lower edge 5b, so that the lower gripper fork 24 of the gripping head 21 can enter into the space 7 to lift the partial pile 5, and in this case, preferably completely enter below the partial pile 5.

[0054] Figure 8 shows the previously described apparatus 1 for unloading a pile 3 consisting of partial piles 5 located on or on a pallet 2 in a graphic business environment, such as a printing plant, which includes at least two machines 80, 81. Machine 80 is, for example, a printing press with a die-cutting module that forms printed and die-cut products 4, such as folding box pieces, which are stacked using a suitably selected placement scheme 83 on the partial piles 5, preferably using an articulated arm robot, such as a so-called cobot, thereby forming the pile 3. Machine 81 is, for example, a folding box gluing machine, to which the partial piles 5 lifted from the pile 3 are supplied. On the floor 87 of the production plant, there is an (underfloor) pallet transporter 86 which transports loaded pallets 2 from the machine 80 into the workspace 33 and returns the empty pallets.

[0055] A first gantry robot 40 equipped with a gripping device 20 and a second gantry robot 50 equipped with a separation device 10 are movably mounted on the gantry frame 30. Additionally, a third robot 60 is mounted on the gantry frame (or alternatively, an extension of the gantry frame or a further gantry frame) as a gantry robot equipped with a further gripping device 61 (similar to or identical to the gripping device 20). The third robot 60 may alternatively be formed as an articulated arm robot, for example, a so-called cobot. The robot performs motions 98a, 98b, and 98c during operation.

[0056] Apparatus 1 has a temporary storage rack 73 with a plurality of temporary storage spaces 74 arranged vertically to each other; in the illustrated example, there are three temporary storage spaces 74. A gripping device 20 places a partial pile 5 onto a projection surface 71 of the rack 73, from which a further gripping device 61 receives the partial pile 5 again and moves it to the machine 81. The temporary storage rack 73 may be used as a buffer, that is, it may be stockpiled and emptied as needed. Multiple partial piles 5 may be buffered on each projection surface 71.

[0057] The control of device 1, that is, the control of the particularly coordinated robot motion, is performed by a digital computer 82 using a stored mounting schema 83 and, optionally, a camera 84 that detects the workspace 33.

[0058] In Figure 9, the projections 72 or projection surfaces 71 with projection-like mounting portions are shown from the longitudinal direction on the left and from the transverse direction on the right. As can be seen on the left, the lower gripper fork 24 of the gripping device 20 enters (and then exits again) between the projections 72 when the partial pile 5 is placed on the projections 72. As can be seen on the right, the corresponding fork of the further gripping device 61 also enters between the projections 72 when the partial pile 5 is lifted from the projections 72. Therefore, the placement and re-receiving of the partial pile 5 are performed first from the longitudinal direction and then from the transverse direction, that is, with a 90° offset. In this way, the partial pile 5 can be rotated around the vertical axis and continued to move and be supplied to the machine. Alternatively, the re-receiving may be performed from the longitudinal direction or the opposite longitudinal direction, that is, without rotation. [Explanation of Symbols]

[0059] 1 device 2 pallets 3 piles 3a Top surface of the pile 4 Printed products 5-part pile 5a (Horizontal) underside of partial pile 5b Lower edge of partial pile 5c Vertical surface of partial pile 6. Bottommost product of the pile section. 7. Blank 8. Middle layer 10 Separation device 11 Separation heads 12 The First Lifter 12a Contact element 13 The Second Lifter 13a Lifting element 14. Horizontal position 15 Pressing tool 16. Working area of ​​the presser 17. Controllable drive mechanism (rotation) for the separation head. 18. Controllable drive mechanism (translational) for presses. 19. Controllable drive mechanism (translational) for lifters 20 Gripping device 21 Gripping head 22 Grippa vs 23 Lower gripper 24 Forks 25 Upper gripper 26 Forks 27 Controllable drive mechanism (rotation) for gripping head 28 Controllable drive mechanism (translational) for upper gripper 30 Gantry Frame 31 Post 32 Intermediate space 33 workspace 40. The first robot, especially the gantry robot. 41 First longitudinal guide 42 First lateral guide 43. First vertical guide 44 First vertical support 45 First pivot axis 50. Second robots, especially gantry robots 51 Second longitudinal guide 52 Second lateral guide 53 Second vertical guide 54 Second vertical support 55 Second pivot axis 60. Third robots, especially gantry robots or articulated arm robots 61 Further gripping device 70 Temporary storage 71 Projection surface 72 Protrusion 73 Temporary storage rack 74 Temporary storage location 75 Longitudinal side 76 Opposing longitudinal sides 77 Lateral side 78 Opposing lateral side 80 machines, especially folding machines 81 Subsequent processing machines, especially bookbinders or binding machines 82 Digital Computers 83 Digital Installation Schema 84 Detection devices, especially cameras 85 FTF (Automated Transporter) 86 Pallet transport device 87th floor 90 Pile exercise 91 Movement of the gripping device / gripping head 92 Movement of the separation device / separation head 93 Movement of the inferior gripper 94 Movement of the upper gripper 95 Motion of the first lifter 96. The motion of the second lifter 97 Movement of the press 98a Motion of the first robot 98b Motion of the second robot 98c The motion of the third robot X horizontal longitudinal direction Y: Horizontal lateral direction Z: Vertical height direction

Claims

1. A device for removing piles, wherein the pile (3) is composed of partial piles (5) consisting of a plurality of flat printed products (4) arranged side by side and above and below each other, the device (1) comprises a separation device (10) for forming a space (7) between each partial pile (5) and the pile (3), and a gripping device (20) for gripping each partial pile (5) using each of the spaces (7), and the device (1) comprises a first robot (40) for moving the gripping device (20) when removing, The apparatus (1) is characterized by comprising a second robot (50) that moves the separation device (10) separately.

2. The apparatus according to claim 1, characterized in that the gripping device (20) is formed as a gripping head (21) that is movably positioned on the first robot (40).

3. The apparatus according to claim 1 or 2, characterized in that the separation device (10) is formed as a separation head (11) movably positioned on the second robot (50).

4. The apparatus according to any one of claims 1 to 3, characterized in that the cavity (7) is formed between the lower surface (5b) of each partial pile (5) and the upper surface (3a) of the pile (3) located below the lower surface (5b).

5. The apparatus according to any one of claims 1 to 4, characterized in that the separation head (11) comprises a first lifter (12) for partially lifting the partial pile (5) to form the void (7).

6. The apparatus according to claim 5, characterized in that the first lifter (12) contacts the vertical surface (5c) of the partial pile (5) when lifting.

7. The apparatus according to claim 5 or 6, wherein the separating head (11) comprises a vertically movable second lifter (13) for partially lifting the partial pile (5) to form the void (7).

8. The apparatus according to claim 8, characterized in that the second lifter (13) contacts the horizontal lower surface (5a) of the partial pile (5) when lifting.

9. The apparatus according to any one of claims 1 to 8, characterized in that the separation head (11) is equipped with a presser (15) that is movable in the vertical direction.

10. The apparatus according to any one of claims 1 to 9, wherein the apparatus (1) comprises a digital computer (82) that controls the movement (98a) of the first robot (40) and the operation of the gripping device (20), and the movement (98b) of the second robot (50) and the operation of the separation device (10), such that the partial pile (5) is first separated from the pile (3) and then gripped.

11. The apparatus according to claim 10, wherein the pile (3) is configured in accordance with the placement schema (83) for the partial pile (5), and the digital computer (82) controls the motion (98a) of the first robot (40) and the motion (98b) of the second robot (50) in accordance with the placement schema (83) when the pile (3) is dismantled.

12. The apparatus according to any one of claims 1 to 11, characterized in that the first robot (40) is formed as a first gantry robot.

13. The apparatus according to claim 12, characterized in that the second robot (50) is formed as a second gantry robot.

14. The apparatus according to any one of claims 1 to 13, characterized in that the movement (91) of the gripping device (20) and / or the movement (92) of the separating device (10) unfolds a common workspace (33).

15. The apparatus according to claim 14, characterized in that the pile (3) is fully or at least partially located within the work space (33) for dismantling.

16. The apparatus according to any one of claims 1 to 15, characterized in that the first robot (40) and the second robot (50) are formed as gantry robots and are arranged on a single common gantry frame (30).

17. The apparatus according to claim 16, characterized in that the gantry frame (30) comprises a plurality of support columns (31) that extend an intermediate space (32).

18. The apparatus according to claim 17, characterized in that the working space (33) is located within the intermediate space (32).

19. An apparatus for removing piles, wherein the pile (3) is composed of a partial pile (5) consisting of a plurality of flat printed products (4) arranged side by side and above and below each other, and the apparatus (1) comprises a first robot (40) equipped with a gripping device (20), The apparatus (1) is characterized by comprising a second robot (50) equipped with a separation device (10).

20. The apparatus according to claim 19, characterized in that the apparatus (1) comprises a third robot (60) equipped with a further gripping device (61).

21. The apparatus according to claim 20, characterized in that the first robot (40), the second robot (50), and the third robot (60) are arranged on a single common gantry frame (30).

22. A method for removing a pile (3) composed of partial piles (5) consisting of a plurality of flat printed products (4) arranged side by side and above and below each other, wherein the partial piles (5) are first separated sequentially from the pile (3) by forming a void (7), and then grasped and lifted, A method characterized in that separation is performed by a separation device (10) located on a first robot (40) and moved by the first robot (40), and gripping and lifting are performed by a gripping device (20) located on a second robot (50) and moved by the second robot (50).

23. The method according to claim 22, characterized in that the second robot (50) places the partial pile (5) into the temporary storage unit (70).

24. The method according to claim 23, characterized in that a third robot (60) equipped with a further gripping device (61) lifts the partial pile (5) from the temporary storage unit (70) and places it elsewhere.

25. The method according to claim 22, characterized in that the second robot (50) transfers the partial pile (5) to a third robot (60) equipped with a further gripping device (61) without temporary placement.

26. The method according to any one of claims 22 to 25, characterized in that the temporary storage unit (70) comprises a plurality of temporary storage locations (74).

27. The method according to claim 26, characterized in that the temporary storage area (74) is arranged in a temporary storage rack (73).

28. The method according to claim 26 or 27, characterized in that at least one temporary storage location (75) is formed as a protruding surface (71).

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