Method for moving product piles using a robot

Abstract

To provide a method of using a robot to automatically move a product pile, in particular to allow it to be flipped or loaded without flipping.SOLUTION: The present invention provides a method of using a robot to move a product pile, in which a robot (10) has a joint arm (11) and at least one gripper for a product pile (1) located on the joint arm, and the product pile (1) is selectively flipped. The method of present invention is characterized in that the product pile (1) is swiveled at an effective angle α1<>180° (110), and the product pile (1) is subsequently swiveled at an effective angle α2=180° -α1 (122), or swiveled at an effective angle α2=-α1 (123). The present invention allows the product pile to be automatically moved in an advantageous manner and specifically loaded with or without flipping.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] invention The present invention relates to a method comprising the features of the preamble of claim 1.

[0002] The present invention relates to the technical field of the graphics industry, in particular to the field of handling (e.g. gripping, holding, moving, rotating, flipping and / or setting down) product piles, preferably made of printed and folded flat products, preferably paper, cardboard, cardboard, plastic, metal or composite materials, using manipulators, in particular robots or articulated arm robots.

[0003] Background technology It is known to manually transport product stacks, e.g., folded signatures, from the delivery of a processing machine, e.g., a folder, onto pallets, where they are stacked according to a known stacking pattern. This task is physically demanding, since approximately four to five product stacks must be moved per minute. It is also known to use robots with articulated arms for this purpose: for example, the "CoBo-Stack" product from MBO Maschinenbau Oppenweiler Binder GmbH & Co. KG, Oppenweiler, Germany.

[0004] JP 60-48848 A discloses gripping of a product pile at diagonally opposite corners in Figure 11d and hanging of the product pile in Figure 9. In this case, both grippers shown belong to two separate robots.

[0005] US Patent Application Publication No. 2006263196 discloses rotating and flipping piles using a robotic gripper.

[0006] EP 1 645 434 discloses pivoting the product pile into a standing position and transferring it to a clamp or gripping it from above.

[0007] EP 2 128 056 A1 discloses a robot with an articulated arm for handling piles and in FIG. 4 shows a gripping device.

[0008] German Utility Model No. 202019106975 discloses a handling device for transferring product piles, which has a gripping device that is movable in three dimensions and has first and second lateral limiting elements and upper and lower holding elements that are supported so as to be linearly slidable along the respective limiting elements.

[0009] assignment The object of the present invention is in particular to provide an improvement over the prior art, which allows for automated movement of product piles, in particular for loading with or without tipping.

[0010] Solution according to the invention The above problem is solved in the present invention by the method according to claim 1.

[0011] Advantageous and therefore preferred developments of the invention can be seen from the dependent claims as well as the description and drawings.

[0012] The invention relates to a method for moving a pile of products using a robot, the robot having an articulated arm and at least one gripper for the pile of products arranged on the articulated arm, the pile of products being selectively turned over, characterized in that the pile of products is pivoted by an effective angle α1<>180° and then the pile of products is pivoted by a subsequent effective angle α2=180°-α1 or by a return pivot by an effective angle α2=-α1.

[0013] The invention advantageously allows for automated movement of product piles, in particular for loading with or without tipping.

[0014] According to the invention, the product pile is advantageously turned in two steps, with optional inversion. In the first step, a turning is performed with an effective angle α1<>180°. In the second step, a turning is performed with an effective angle α2=180°-α1. If α1 and α2 are, for example, both 90°, then a 180° turn is performed according to the invention. If α1 and α2 are, for example, 90° and -90°, then no inversion is performed according to the invention.

[0015] The two-step pivoting method according to the invention advantageously allows for the addition of an intermediate step, such as shaking and / or aligning the product pile. Furthermore, the two-step pivoting method according to the invention advantageously allows for the two steps to be performed in different positions, for example by a robot moving between the two steps. Furthermore, the two-step pivoting method according to the invention advantageously allows for the two steps to be performed using different devices, for example by a robot and a pivoting device different from that of the robot.

[0016] The term "effective angle" clarifies that the angle does not depend on the manner of turning. An effective angle of +90° can therefore be achieved, for example, by turning +90°, turning two degrees by +45° each, or by turning -270°. Instead of "effective angle", the term "angle" may simply be used.

[0017] The term "selective" means that the product piles are either turned or not turned. The selection can be preferably carried out by a digital computer, in particular by the digital computer depending on a so-called stacking model. The term "selective" also specifies that the method can be carried out several times in succession for each product pile, in which case at least one product pile is turned and at least one product pile is not turned.

[0018] Advanced Preferred developments of the invention (short for developments) are described below.

[0019] One development can be characterized in that the pivoting of the effective angle α1 is performed by a pivoting device different from the robot. The pivoting device can be assigned to, and in particular arranged on, the boom of the processing machine, in particular the folding machine. The pivoting device can have a pivotable gripper for the product pile. The pivoting device can be controlled by a digital computer. The pivoting device preferably pivots the product pile by α1 = 90°.

[0020] A development can be characterized in that the pivoting through the effective angle α1 is carried out before the movement or that the movement starts from a pivoted position of the product pile. The movement is preferably carried out by means of a robotic arm.

[0021] A further development can be characterized in that the pivoting with the effective angle α1 is performed about a horizontal axis. The axis may be oriented parallel to the conveying direction of the boom of the processing machine, in particular the folder. Before pivoting, the product pile is preferably gripped and held.

[0022] One development can be characterized in that when pivoting through the effective angle α1, the product pile is pivoted from a horizontal position, in which the individual products of the product pile, for example folded signatures, are preferably positioned horizontally.

[0023] A development can be characterized in that, when pivoting through the effective angle α1, the product pile is pivoted into a vertical position, in which the individual products of the product pile are preferably "standing".

[0024] One development can be characterized by orienting the product pile out of a horizontal position, and / or aligning it in one direction, and / or aligning it in two mutually perpendicular directions, and / or shaking it, and / or airing it, and / or changing a fan-like, misaligned product pile into a non-fan-like, misaligned product pile ("de-alignment"). During this process, the product pile can be in a rotating device, for example in the grippers of the rotating device. The grippers can then be easily opened, particularly for airing. The device for aligning and / or de-aligning can have two mutually movable, perpendicularly standing surfaces, for example, sheet metal, preferably sheet metal with lateral bends. The device can be open before pivoting and closed after pivoting. For this purpose, the surfaces can be moved away from and towards each other. A pneumatic cylinder can be provided for the shaking. Finally, the device or its surface preferably travels to an open position so that the product pile can be received.

[0025] One development can be characterized by rotating the product pile in a vertical position around a vertical axis, preferably by 180°. This advantageously allows the product pile in a vertical position to be gripped from the same side both when it is selectively turned over and when it is not. The rotation can be performed by a swivel device. The swivel device can have a rotation drive for this purpose. The rotation drive can be controlled by a digital computer.

[0026] A further development can be characterized in that the receiving of the pile of products when it is turned over is carried out from one side of the pile of products, and the receiving of the pile of products when it is not turned over is carried out from the same side of the pile of products. The receiving from one or the other side can be carried out by an articulated arm of the robot. The selection of the side can be carried out under computer control. A predetermined stacking pattern can be taken into account.

[0027] A further development can be characterized in that the robot receives the product pile in a vertical position, the robot, in particular its gripper, being computer-controlled for this purpose and movable to approach the product pile, for example from above and / or from one side.

[0028] A development can be characterized in that the product pile is moved in a vertical position at least during a part of the movement, along which the position of the product pile can be changed, for example by pivoting (about a horizontal axis) and / or rotating (about a vertical axis).

[0029] A further development may be characterized in that the robot receives the product pile from the swivel device and then moves it. The receiving and also the holding of the product pile may be performed by a gripping device of the robot. The movement may be performed by moving an articulated arm of the robot. The robot may additionally be moved horizontally. All movements of the robot may preferably be performed under computer control.

[0030] A further development can be characterized in that the receiving of the pile of products when it is turned over is carried out from one side of the pile of products, and the receiving of the pile of products when it is not turned over is carried out from the opposite side of the pile of products. The receiving from one or the other side can be carried out by an articulated arm of the robot. The gripping device of the robot can then be rotated so that the gripping is carried out from one side or the other. The selection of the side can be carried out under computer control. A predetermined stacking pattern can be taken into account in this regard.

[0031] A further development can be characterized in that the rotation of the effective angle α2 is carried out during the movement, between the two moving parts, or after the movement. The rotation can be carried out under computer control, taking into account a predetermined loading pattern.

[0032] A further development can be characterized in that the pivoting through the effective angle α2 is performed by means of a robot. The pivoting can be performed by a corresponding movement of the articulated arm of the robot and / or by a pivoting device provided on the robot or its articulated arm and / or by a rotatable gripping device provided on the robot or its articulated arm. The pivoting can be performed under computer control.

[0033] One development can be characterized in that when pivoting through the effective angle α2, the product pile is pivoted back to a horizontal position, in which case the product pile is lowered without being turned over, i.e., without being turned over.

[0034] A further development can be characterized in that the pile of products is lowered in a horizontal position, preferably onto a pallet, and for this purpose the grippers of the robot can be opened simultaneously or one after the other and moved apart to the side.

[0035] One development can be characterized by rotating the product pile around a vertical axis before it is lowered, so that the orientation of the product pile can be changed horizontally, for example by an effective 90° or 180°. The rotation can be performed under computer control, taking into account predetermined loading patterns.

[0036] One development can be characterized by an effective angle α1=90° and an effective angle α2=90°, with a lead pivot by α2. During the lead pivot, the pivot by α1 and the pivot by α2 are preferably performed in the same pivot direction. In this case, the product pile is turned over "totally".

[0037] One development can be characterized by an effective angle α1=90° and an effective angle α2=-90°, with a return swing of α2. During the return swing, the swings α1 and α2 are preferably performed in opposite swing directions. In this case, the product pile is not turned over "totally."

[0038] One development may be characterized in that the product pile is held by at least two grippers during movement.

[0039] One development can be characterized by holding the product pile in a form-locking and / or force-locking manner during movement.

[0040] One development can be characterized in that the sides of the product pile have at least four corners, and the product pile is held at diagonally opposite corners during movement. If there are more than four corners, corners can be selected that are, for example, widely spaced from one another and / or that closely approximate the diagonally opposite shape.

[0041] One development can be characterized by selectively holding two diagonally opposite corners or two other diagonally opposite corners. The selection of corners can be performed under computer control, taking into account a predetermined stacking pattern. For this purpose, the gripping device provided on the robot arm is preferably rotated.

[0042] A further development may be characterized in that the product pile is held in a sagging manner, for which the spacing between the grippers of the robot can be reduced, preferably computer-controlled, until a desired or predetermined sag is reached. The product pile may be formed from folded paper sheets.

[0043] One development can be characterized by holding the pile of products so that it hangs diagonally, so that the pile of products can be controlled and stacked in a self-securing manner with a diagonal "lowest point". The pile of products can be held for this purpose at the diagonally opposite corner.

[0044] Special developments in loading Further preferred developments of the invention (short for developments) are described below.

[0045] A development may be characterized in that the movement ends at a selected one of a plurality of loading positions of a predetermined loading pattern. The loading pattern may be stored in a digital computer or in a network connected to a digital computer. A plurality of loading patterns may be stored, for example, in a data bank. The selection of the loading position (and / or the sequence of loading positions for the product piles to be moved one after the other) may be performed under computer control. When building a transport pile from a plurality of product piles, one loading pattern may be selected for each horizontal layer. In particular, different loading patterns may be selected for two consecutive layers.

[0046] One development may be characterized in that the product piles are underlaid, preferably on pallets, and loaded at selected loading positions.

[0047] One development can be characterized in that the pile of products hangs diagonally and that when stacking a pile of diagonally hanging products, the pile of products is held so that the slack first comes into contact with the underlayment.

[0048] One development may be characterized in that the stowage patterns are stored in a digital computer or loaded into this digital computer from another digital computer via a network, and the movements are controlled by this digital computer.

[0049] A development can be characterized in that the stacking pattern is calculated and / or selected by a digital computer depending on at least one of the following parameters: the dimensions of the product pile; the dimensions of the underlay; in the case of a product pile formed by folded products, the position of the folded edges relative to the underlay and / or the configuration of the folded edges depending on the folding method.

[0050] A further development can be characterized in that a plurality of product piles are moved, selectively turned over, selectively rotated horizontally and stacked in a respectively selected stacking position from a plurality of stacking positions of a predetermined stacking pattern, whereby a computer-controlled robot with an articulated arm and a gripping device can be used.

[0051] Special developments in grasping Further preferred developments of the invention (short for developments) are described below.

[0052] One development may be characterized by the use of two grippers, which are moved away from the product pile horizontally and in two directions perpendicular to each other when unloading or loading the product pile.

[0053] A further development can be characterized in that when unloading or loading a product pile, the gripper is opened vertically, whereby one of the gripper jaws can be moved, preferably the gripper jaw above the product pile, and can be moved upwards, while the other gripper jaw, preferably the gripper jaw below the product pile, can remain stationary.

[0054] One development can be characterized in that each product pile is moved towards a stacking position of a stacking pattern, each selected such that at the stacking position the gripper moves horizontally away from the product pile without colliding with the already stacked product pile.

[0055] Advanced Further preferred developments of the invention (short for developments) are described below.

[0056] A development can be characterized by the transfer of the product pile from the delivery of the converting machine for printed products to one pallet or to one of several pallets, in the latter case allowing non-stop operation.

[0057] One development may be characterized in that the transfer of the product pile is carried out from the delivery of a processing machine for printed products, such as a folder, saddle stitcher or perfect binder, onto one pallet or onto one of several pallets.

[0058] A further development can be characterized in that the product piles are conveyed in the conveying direction in the delivery and separated from one another in the conveying direction. The conveying can be carried out on a roller conveyor. For the separation, the individual drivable rollers can be driven or stopped accordingly.

[0059] A development may be characterized in that the robot is mobile and can be used at several positions on a single processing machine or on several processing machines, the robot may be supported for this purpose on rollers and / or rails.

[0060] A development may be characterized in that the product pile is formed from folded and / or die-cut printed products.

[0061] One development can be characterized in that several piles of products are stacked on a transport pallet in a transport pile that is horizontally offset from one another and overlaps in several horizontal planes, or the transport pile is formed or constructed accordingly. The selection of the offset and / or planes can be carried out under computer control. A predetermined stacking pattern can be taken into account.

[0062] A development can be characterized in that a sensor arranged on the robot detects the height of the transport pile. The sensor may be arranged on the gripping device of the robot. A plurality of sensors may be arranged. The height may be determined absolutely (for example measured from the upper edge of the pallet or floor) or relatively as a distance to the sensor.

[0063] A development may be characterized by detecting as height a single height value, a number of height values ​​at different horizontal positions or a height profile.

[0064] One development can be characterized by using as sensors distance sensors that measure the height, or cameras with digital image processing that calculate the height from the camera image.

[0065] One development can be characterized in that the robot arm is first moved without collision above the partially constructed transport pile, the digital computer then taking the detected height into account when controlling the movement of the robot arm.

[0066] A further development may be characterized in that the robot removes the individual insoles from the pile and places them on the respective flat surfaces. The insoles may be made of cardboard. The removal of the insoles may be performed under computer control, taking into account a predetermined stacking and / or pile pattern.

[0067] A further development can be characterized by the fact that the insole is held by suction. For this purpose, a suction gripper can be arranged on the gripping device of the robot. Several such suction grippers can also be used.

[0068] A development can be characterized in that the movement is carried out fully automatically, according to the selected loading and / or pile pattern and at least in accordance with the production speed of the processing machine.

[0069] One development may be characterized in that the movements of the robot arm are carried out within a protected zone.

[0070] One development may feature the use of housings and / or fences and / or light barriers and / or camera surveillance to create a protected zone.

[0071] Special developments regarding the device for carrying out the method Further preferred developments of the invention (short for developments) are described below.

[0072] A development of the method according to the invention can be characterized in that an apparatus for moving a pile of products by means of a robot is used, the robot having an articulated arm on which a first gripper for the pile of products is arranged, and the method is characterized in that a gripping device is arranged on the articulated arm, the gripping device having a first gripper and a second gripper, the first gripper and the second gripper being positioned relative to each other.

[0073] The above-described device may itself constitute another invention: An apparatus for moving a pile of products using a robot, the robot having an articulated arm on which a first gripper for the pile of products is arranged, characterized in that a gripping device is arranged on the articulated arm, the gripping device having a first gripper and a second gripper, the first gripper and the second gripper being positionable relative to each other.

[0074] The device itself or its use advantageously allows for automated movement of product piles, in particular for loading with or without tipping.

[0075] One particular advantage can be found in the possibility to move and in particular selectively stack product piles of different sizes or formats with or without inversion.

[0076] Further preferred developments (abbreviated as "developments") of the invention are described below, which may also constitute preferred developments of the device itself as the above-mentioned further invention.

[0077] A further development can be characterized in that both grippers can be positioned, preferably computer-controlled, to a predetermined shape of the product or product pile. The grippers can be movable, preferably linearly movable, for positioning. The positioning is preferably performed computer-controlled.

[0078] A development can be characterized in that both grippers can be positioned at opposite ends of a selected diagonal of a selected printing form, the positioning preferably being performed under computer control.

[0079] A development can be characterized in that the first gripper is formed as a first clamping gripper having a first pair of gripper jaws and the second gripper is formed as a second clamping gripper having a second pair of gripper jaws.

[0080] A development can be characterized in that both pairs of gripper jaws each have one stationary gripper jaw and one gripper jaw that is linearly movable relative to the stationary gripper jaw. A linear drive, preferably an electric linear drive with a threaded spindle, may be provided. The stationary gripper jaws are, of course, not completely immobile: they can be moved by movements of the robot, the gripping device and / or the gripper. The stationary gripper jaws are either stationary only upon opening and closing of the gripper or only move essentially in comparison with the movable gripper jaw.

[0081] A development can be characterized in that the stationary gripper jaws each have one horizontally extending receiving element and at least one vertically extending stop element.

[0082] A further development can be characterized in that the two stationary gripper jaws each have one horizontally extending receiving surface as a receiving element and two vertically extending, mutually perpendicular stop surfaces as stop elements. All surfaces may be mutually perpendicular.

[0083] A development can be characterized in that the product pile is held in a force-locking and / or form-locking manner by the gripper jaws.

[0084] A development can be characterized in that at least one blowing device is arranged on the gripping device, which blows air under the product pile when the product pile is being lowered.

[0085] A further development can be characterized in that at least one further gripper is arranged on the gripping device, which further gripper is configured as a suction gripper for the insole, which can be supplied with suction air under computer control for suction gripping and holding.

[0086] A development may be characterized in that at least one distance sensor and / or at least one camera is arranged on the gripping device.

[0087] A development can be characterized in that the gripping device has a first support arm, on which a first gripper is arranged linearly movable in the longitudinal direction of the first support arm.

[0088] A development can be characterized in that the gripping device has a second support arm, on which a second gripper is arranged linearly movable in the longitudinal direction of the second support arm.

[0089] The support arms may each be provided with a linear drive, preferably an electric linear drive with a threaded spindle, for moving the grippers along the support arms. The linear drive may be electric. The support arms may have a length that correlates with the product pile of the largest plate type that is to be moved.

[0090] One development can be characterized in that a first support arm and a second support arm are arranged perpendicular to one another on the gripping device, the support arms forming an XY axis system for the gripper that is adjustable to the form, and the movable gripper jaws of the gripper forming a Z axis perpendicular to the XY axis system.

[0091] A development can be characterized in that both linearly movable gripper jaws are movable perpendicularly relative to the respective support arms.

[0092] A development can be characterized in that the gripping device is arranged on the robot arm so that it can rotate about an axis of rotation, which is preferably used for rotating the product pile about a vertical axis and / or for laying down a horizontally rotated product pile.

[0093] A development can be characterized in that the gripping device is arranged on the robot arm so as to be pivotable about a pivot axis perpendicular to the axis of rotation, the pivot axis being preferably used for pivoting the product pile about a horizontal axis and / or for laying down a product pile that is selectively inverted or not inverted with respect to the horizontal.

[0094] A development can be characterized in that the articulated arm has six axes, preferably axes of rotation.

[0095] One development may be characterized in that the robot is movable horizontally relative to the processing machine or machines that form the product pile, for example on rails or rollers.

[0096] The features and feature combinations disclosed in the above technical field and invention paragraphs, the above paragraphs on various developments and the following paragraph on examples, in any combination with one another, constitute further advantageous developments of the invention.

[0097] Alternatives Instead of the two-step pivoting method described above, the problem can also be solved by a one-step pivoting method, in which the product pile is gripped by the gripping device of the articulated arm robot in a horizontal orientation, preferably from below, for selective flipping, and pivoted by an effective angle of 180°, for example, during transfer to a pallet. If selective flipping is not desired, the product pile can be gripped in a horizontal orientation, preferably from above. [Brief explanation of the drawings]

[0098] [Figure 1] 1 shows a preferred embodiment of an apparatus, preferably comprising a robot, when carrying out the steps of a preferred embodiment of the method according to the invention; [Figure 2] FIG. 1 shows a preferred embodiment of a delivery for a processing machine. [Figure 3A] 1 shows a preferred embodiment of a delivery, preferably with a swivel device, during the execution of the steps of a preferred embodiment of the method according to the invention; [Figure 3B] 1 shows a preferred embodiment of a delivery, preferably with a swivel device, during the execution of the steps of a preferred embodiment of the method according to the invention; [Figure 4A] 1 shows a preferred embodiment of a robot-guided gripping device during the execution of steps of a preferred embodiment of the method according to the invention; [Figure 4B] 1 shows a preferred embodiment of a robot-guided gripping device during the execution of steps of a preferred embodiment of the method according to the invention; [Figure 4C] 1 shows a preferred embodiment of a robot-guided gripping device during the execution of steps of a preferred embodiment of the method according to the invention; [Figure 4D] 1 shows a preferred embodiment of a robot-guided gripping device during the execution of steps of a preferred embodiment of the method according to the invention; [Figure 5] 1 shows a preferred embodiment of the gripping device during the step "Lowering the product pile 150" of a preferred embodiment of the method according to the invention. [Figure 6A] FIG. 1 illustrates a preferred embodiment of a stowage pattern. [Figure 6B] FIG. 1 illustrates a preferred embodiment of a stowage pattern. [Figure 7] FIG. 1 shows a preferred embodiment of a transport pile formed by the step "lowering." [Figure 8]FIG. 1 shows a preferred embodiment of a flow chart.

[0099] Example 1 to 8 show preferred embodiments of the present invention and its developments. Corresponding features are given the same reference numerals in the figures. Repetitive reference numerals have been omitted for clarity.

[0100] Figure 1 shows a preferred embodiment of an apparatus, preferably comprising a robot, when carrying out the steps of a preferred embodiment of the method according to the invention. The illustration is a top view.

[0101] A processing machine 70, only partially shown, preferably a folder, arranged at position 74 produces printed products 2, preferably printed and / or folded signatures 2, which are moved, e.g. transported, in the form of product piles 1 on a delivery 72 in a conveying direction 71. The operation of the delivery, and in particular the transport, can be controlled by a digital computer 80. A product pile preferably contains a number of products that are superimposed.

[0102] A digital computer 80 is preferably connected to a network 81 and controls the processing machine 70, and optionally other machines, and may provide job data, for example, for manufacturing a product. The job data may be provided over the network.

[0103] A delivery 72 can move the product pile 1 into a protected zone 73. A robot 10 can be located in this zone and preferably has a multi-axis 12, e.g. six-axis, articulated arm 11. The robot can be a typical industrial robot.

[0104] A gripping device 20 is arranged on the robot 10, preferably at the end of its articulated arm 11 or "hand". The gripping device can grab, hold and move the product pile 1 from a delivery 72 in space, preferably exclusively in a protected zone. This movement 15 moves the product pile 1 along any spatial curve onto a transport pallet 62, onto which the product pile is unloaded, preferably at a loading position 60 according to a loading model 61. Preferably, several pallets may be provided within the reach of the robot. A movement may include several moving parts 16. Between two moving parts, the gripping device may, for example, rotate and / or pivot. This rotation and / or pivoting may be performed during the movement.

[0105] At the end of the delivery 72, a swivel device 40 is preferably arranged. The swivel device 40 can swivel the product pile 1 from a horizontal 50 or horizontal plane 53 or horizontal position 52 to a vertical 54 or vertical plane 57 or vertical position 56. The swivel device may have two preferably horizontally movable orientation elements 41 and / or aligners 42 for the product pile. The orientation elements 41 and / or aligners 42 may be formed as surfaces, for example as sheet metal.

[0106] The movements of the robot 10, in particular the movements 15 and / or 16, and / or the movements of the swivel device, in particular the swivels, can be controlled by a digital computer 80.

[0107] 2 shows a preferred embodiment of the delivery of the processing machine. The delivery 72 may have a number of rollers 76. The delivery may be a roller conveyor. Some of the rollers may be driven, for example by a motor 75. A digital computer 80 can control the transport of a pile 1 of overlapping products 2, which can be separated from one another in the conveying direction 71. The products 2, and thus the resulting pile 1 of products, preferably have four corners 5. Punched products may have more corners. In the case of folded products, the folded spine of the product is preferably parallel to the conveying direction.

[0108] 3A and 3B show a preferred embodiment of a delivery, preferably with a swivel, during the performance of the steps of a preferred embodiment of the method of the present invention, each shown in a perspective view.

[0109] 3A and 3B show the end of the folding machine 70 and the delivery 72, on which the product pile 1 is transported in a conveying direction 71 to the turning device 40 (method step conveying 101). Before turning, the product pile, and thus the products 2, are preferably in a horizontal position 52.

[0110] The pivoting device 40 preferably has grippers 43, e.g. rods that are movable relative to one another, preferably one rod (the closing "pressure") on one side of the product pile 1 and three rods on the other side. The pivoting device and / or its grippers are pivotable about a horizontal axis 51. The grippers, which are below the product pile 1 as viewed in Figure 3A, may be positioned between the rollers 76 and are pivotable from this position.

[0111] 3A and 3B show a robot 10 and a portion of its articulated arm 11. The robot is preferably movable horizontally on the floor and can thus be positioned in various locations. The robot may be supported, for example, on rollers. It may also be provided with rails, for example.

[0112] 3A and 3B show a preferably horizontally movable orientation element 41 and / or aligner 42. FIG.

[0113] 3A and 3B, the pivoting movement or pivoting 110 with an effective angle α1 is clear (method step PILE 110). In the illustrated example, the angle α1 is preferably 90°. After pivoting, the product pile 1 is preferably in a vertical position 56. In the case of folded products 2, the folded spine is preferably on top in the vertical position.

[0114] 3A and 3B show two sides 3 and 4. The robot 10 can grab the pivoted product pile 1 preferably from side 3 or from the opposite side 4. Side 3 may be referred to as the front side and side 4 as the rear side. The selection of the side can be computer controlled and performed according to the loading pattern.

[0115] The swiveling device may optionally be configured to be rotatable and thus rotatable about a vertical axis 55. The product pile can preferably be rotated by 180°. With this option, the robot 10 can always grab the swiveled product pile 1 from the same side, preferably from side 3 or the front side.

[0116] 4A to 4D show a preferred embodiment of a robot-guided gripping device, each in a perspective view, during the performance of steps of a preferred embodiment of a method according to the present invention.

[0117] 4A to 4D show the flange 26 of the robot 10. A gripping device 20 for the product pile 1 is preferably arranged on the flange. The gripping device is preferably rotatable about a rotation axis 13 (method step Rotate 142). The gripping device is preferably swivelable about a pivot axis 14 (method step Turn forward 122 or Turn back 123). The rotation axis and the pivot axis may each be realized by only one axis 12 of the robot or by several axes.

[0118] The gripping device 20 preferably has two support arms, namely a first support arm 21 and a second support arm 23. The support arms are preferably perpendicular to one another. A first gripper 30 is arranged on the first support arm so as to be movable, preferably in a first longitudinal direction 22. A second gripper 32 is arranged on the second support arm so as to be movable, preferably in a second longitudinal direction 24. The grippers can be driven by a linear drive 25 in order to adjust the grippers according to the form.

[0119] The first gripper 30 preferably has a first pair of gripper jaws 31, comprising a stationary gripper jaw 31a and a movable gripper jaw 31b. The movable gripper jaw can be driven by a linear drive 37. The second gripper 32 preferably has a second pair of gripper jaws 33, comprising a stationary gripper jaw 33a and a movable gripper jaw 33b. The movable gripper jaw can be driven by a linear drive 37. The stationary gripper jaws can each have one receiving element 34, preferably a receiving surface. The movable gripper jaws are used to open and close the gripper.

[0120] The grippers 30 and 32 grip the product pile 1 of products 2, preferably at a corner 5 of the product pile 1, particularly preferably at a corner 6 opposite a diagonal (see diagonal line 7 in FIG. 5).

[0121] In the example shown in Fig. 4A, the gripping device 20 grips the vertically pivoted product pile 1 from side 4, i.e., for example, from the rear side. In other words, the gripping device is preferably on side 4 when gripping the product pile. To make this clear, the conveying direction 71 has been drawn.

[0122] In the illustrated example of FIG. 4B, the gripping device 20 grips the vertically pivoted product pile 1 from the same side 4, ie for example from the rear side.

[0123] 4A and 4B, it is clear that it is possible to grab one pair of corners 5 ("top left" and "bottom right") or the other pair of corners 5 ("bottom left" and "top right") The corners can be computer controlled and selected depending on the stacking pattern.

[0124] In the example shown in FIG. 4C, the gripping device 20 grips the vertically pivoted product pile 1 from the side 3, ie for example from the front side.

[0125] In the illustrated example of FIG. 4D, the gripping device 20 also grips the vertically pivoted product pile 1 from a side 3, ie for example from the front side.

[0126] 4C and 4D, it is clear that it is also possible to grab one pair of corners 5 ("top left" and "bottom right") or the other pair of corners 5 ("bottom left" and "top right"), which again can be computer controlled and selected according to the stacking pattern.

[0127] Whether the product pile 1 is gripped from side 3 or side 4, and thus from one pair of corners 5 or the other pair, depends on how the product pile is to be lowered, i.e., whether it is to be lowered inverted or not, and rotated or not. This in turn depends on the selected stacking pattern and the respective stacking position within the pattern. The digital computer 80 controls the gripping, and thus the appropriate movement of the robot 10, depending on the stacking pattern and the stacking position. The sides and corners are selected accordingly.

[0128] After gripping, during the movement 130, in particular between the two movement parts 130a and 130b, and preferably before being lowered (method step 152), the product pile 1 is pivoted by the effective angle α2, i.e., forward pivot (method step 122) or back pivot (method step 123). By forward pivoting, the product pile is preferably lowered inverted (method step reversing 140); by back pivoting, it is preferably lowered without being turned over (method step not reversing 141).

[0129] 5 shows a preferred embodiment of the gripping device during the step "Lowering the product pile 150" of a preferred embodiment of the method according to the invention. The illustration is a perspective view.

[0130] FIG. 5 shows the gripping device 20 with two grippers 30 and 32. The grippers hold the product pile 1 at diagonally opposite corners 6. The grippers are positioned or spaced apart on the two support arms 21 and 23 depending on the product pile's format so that the product pile hangs down (method step 150). When the product pile is lowered onto a transport pallet 62 or onto an already formed transport pile 64, the hanging diagonal 8 comes into contact with the pallet or transport pile first. This allows the product pile to be lowered precisely and without interference, and the released grippers 30 and 32 to be released from the product pile by moving them in mutually perpendicular directions 58. This release and release can be controlled by a digital computer 80.

[0131] 5 shows both stationary gripper jaws 31a and 33a with two respective stop elements 35, in particular stop surfaces 35. Both respective stop elements, i.e., all four stop elements, are preferably oriented vertically, whereas both receiving elements 34 (which are below the product pile and therefore not visible in FIG. 5) are preferably oriented horizontally when lowering the product pile 1. Opening and closing of the grippers or movement of the movable gripper jaws 31b and 33b is performed in direction 38.

[0132] 5 shows a sensor 66, preferably provided on one of the stationary ("lower") gripper jaws 31a or 33a, which measures the distance or height 65 to the pallet or to an already formed transport pile and can transmit the measurements to the digital computer 80, so that the digital computer 80 can control the precise and in particular collision-free lowering.

[0133] 5 shows two other grippers 36, in particular suction grippers 36. These grippers 36 are preferably used to grip and hold the insole 67.

[0134] 6A and 6B show a preferred embodiment of the stowage pattern.

[0135] 6A and 6B show exemplary top views of 12 piles of products 1 each, which have been laid down in the order 1 to 12.

[0136] At one corner of each pile of products, a gripping device 20 or flange 26 is shown as a circle. At each of the two corners, both grippers 30 and 32 are shown. Arrows 58 indicate the direction in which the open grippers should be moved to release the pile of products.

[0137] The lowering of the product piles 1 into the loading positions 60 according to the respectively selected loading pattern 61 allows the grippers 30 and 32 to move horizontally and collision-free relative to the already previously lowered product piles.

[0138] As can be seen in Figures 6A and 6B, so-called "Kamin" 68, ie gaps provided within the stacking pattern, may be formed.

[0139] A comparison of Figures 6A and 6B makes it clear that the stacking pattern can be switched. Preferably, the stacking pattern is switched for each new horizontal plane or layer of the transport pile to be formed. This can improve the stability of the transport pile.

[0140] Figure 7 shows a preferred embodiment of the transport pile formed by the step "down". The illustration is a side view.

[0141] On the transport pallet 62, a first layer 63 of the product pile 1 is laid according to a first stacking pattern. On the first layer 63, insoles 67 are laid. The insoles can be removed from adjacent insoles piles by a robot. For this purpose, suction grippers 36 can be used. On the insoles, a second layer 63 of the product pile 1 is laid according to a second stacking pattern, preferably different from the first stacking pattern. It can be seen that the edges of the product pile 1 may have a horizontal offset 69. In this way, the stability of the transport pile can be improved.

[0142] When the gripping device 20 approaches the transport pile 64, the sensor 66 enables the vertical clearance 65 to be measured, and the digital computer 80 can use this measurement to control the collision-free movement of the gripping device.

[0143] A preferred embodiment of a flow chart is shown in Figure 8. Optional method steps are indicated by dashed lines.

[0144] Processing (100) may involve the production of folded products 2. Conveying (101) may involve conveying the product pile 1 in the conveying direction 71. Separating (102) may involve separating the product pile 1 in the conveying direction 71. Stopping (103) may involve stopping the product pile 1 at the turning device 40.

[0145] The pivoting (110) can involve pivoting the pile of products 1 by the pivoting device 40, in particular a pivoting by α1 = 90°. The directing (111) can involve orienting the pile of products, preferably around a vertical axis. For this purpose, the directing element 41 can be used. The aligning (112) can involve aligning the products 2. For this purpose, the aligner 42 can be used. The shaking (113) can involve shaking the pile of products 1 and thus the products 2. The airing (114) can involve airing the pile of products 1. The airing can be performed by shaking. The changing (115) can change a non-uniform, fan-shaped pile of products 1 into a uniform pile of products that is not fan-shaped. For this purpose, the directing element 41 can be used. The directing element 41 can be formed from a metal sheet, each having one surface, for example, two bent edges.

[0146] Receiving (120) can be performed by the gripping device 20, in particular by its grippers 30 and 32. During receiving, the product pile can be transferred from the swivel device 40 to the gripping device 20. Receiving can be performed from side 3 or side 4. Holding (121) can be performed by the closed grippers 30 and 32.

[0147] The forward swing (122) can be performed by the robot arm 11, in particular by α2=90°. The return swing (123) can be performed by the robot arm 11, in particular by α2=-90°. Preferably, the forward swing or the return swing is performed depending on the loading pattern.

[0148] Movement or motion (130) is preferably implemented using the robot 10. Movement or motion part (130a) and movement or motion part (130b) are preferably implemented using the robot 10. Computation (131) is preferably implemented using the digital computer 80. The movement of the robot 10 can be computed. Control (132) is preferably implemented using the digital computer 80. The movement of the robot 10 can be controlled.

[0149] The inversion (140) can be performed by the robot arm 11, in particular by α1+α2=180°. The non-inversion (141) can be performed by the robot arm 11, in particular by α1+α2=0°. The rotation (142) can be performed by the robot arm 11.

[0150] The dropping (150) can be achieved by an adjustable distance between the two grippers 30 and 32. The measurement (151) of the distance 65 and / or the height 65 can be performed by a sensor 66. The dropping or stacking (152) can be performed by the robot arm 11, taking into account in particular a predetermined stacking pattern 61. [Explanation of symbols]

[0151] 1 product pile 2. Printed products, especially folded printed products 3 Side 4 Opposite sides 5 corner 6 Diagonally opposite corners 7 Diagonal 8. Drooping Diagonal 10. Devices, especially robots 11 Robotic or Articulated Arms 12 axes 13 Rotation axis 14 Swivel axis 15 Movement or Section 16 Traveling parts or sections 20 Gripping device 21 first support arm 22 first longitudinal direction 23 Second support arm 24 Second Longitudinal 25 Linear Drive 26 flange 30 first gripper, in particular clamp gripper 31 First pair of gripper jaws 31a Immovable Gripper Jaw 31b Movable gripper jaws 32 Second gripper, in particular clamp gripper 33 Second pair of gripper jaws 33a Immovable Gripper Jaw 33b Movable gripper jaws 34 Receiving elements, especially receiving surfaces 35 Stop element, especially the two stop surfaces 36 Other grippers, especially suction grippers 37 Linear Drive 38 Gripper Open / Close Movement 39 Blow device 40 Swivel 41 Orientation Elements 42 Aligner 43 Gripper 50 horizontal 51 horizontal axis 52 Horizontal posture 53 horizontal plane 54 Vertical 55 Vertical axis 56 Vertical Posture 57 Vertical Plane 58 Two mutually perpendicular directions 60 Loading position 61 Stacking Pattern 62 Underlayment, especially pallets 63 Layer of already stacked product pile 64 Transport Pile 65 height 66 Sensors, especially distance sensors or cameras 67 Insoles 68 Chimney 69 Deviation amount 70 Processing machines, especially folding machines 71 Transport direction 72 Delivery 73 Protected Zone 74 Location of processing machines 75 Drive unit 76 Laura 80 Digital Computer 81 Network 100 processing 101 Transportation 102 separation 103 Stop 110 Turn 111 Orientation 112 Align 113 Shaking 114 Wind-in 115 Change 120 Receipt 121 retention 122 Forward turn 123 Return Turn 130 Movement or Exercise 130a Moving or Exercising Part 130b Moving or Exercising Part 131 Calculation 132 Control 140 Invert 141 Non-inverting 142 rotations 150 Hanging 151 measurements 152 Unloading or stacking α1 (first) effective angle α2 (second) effective angle

Claims

1. A method for moving a pile of products using a robot, the robot (10) having a robot arm (11) and at least one gripper (30, 32) for the pile of products (1) arranged on the robot arm (11), the pile of products (1) being selectively inverted (140), the method comprising: The pile of products (1) is turned (110) through an effective angle α1<>180°, and the pile of products (1) is subsequently turned (122) through an effective angle α2=180°-α1 or turned back (123) through an effective angle α2=-α1, A method for moving a pile of products using a robot, characterized in that the turning (110) through the effective angle α1 is performed using a turning device (40) different from the robot (10).

2. 2. The method according to claim 1, characterized in that the robot (10) receives (120) and moves (130) the product pile (1) from the swivel device (40).

3. A method as described in claim 2, characterized in that when the product pile (1) is inverted (140), the receiving (120) of the product pile (1) is carried out from one side (3) of the product pile, and when the product pile (1) is not inverted (141), the receiving (120) of the product pile (1) is carried out from the opposite side (4) of the product pile.

4. 4. The method according to claim 2 or 3, characterized in that the pivoting (122, 123) of the effective angle α2 is performed during the movement (130), or between two movement parts (130a, 130b), or after the movement (130).

5. 5. The method according to claim 2, wherein the sides (3, 4) of the pile of products (1) have at least four corners (5, 6), and the pile of products is held at diagonally opposite corners (6) during the movement (130).

6. 5. The method according to claim 3 or 4, characterized in that the pivoting (110) of the effective angle α1 is performed before the movement (130).

7. 7. The method according to claim 1, wherein the pivoting (110) with the effective angle α1 is performed around a horizontal axis (51).

8. 8. The method according to claim 1, further comprising orienting (111) the pile of products (1) out of the horizontal position (52) and / or aligning (112) it in one direction and / or aligning it in two mutually perpendicular directions (112) and / or shaking (113) it and / or fanning (114) it and / or changing (115) a non-uniform pile of products into a uniform pile of products that is not fanned.

9. 9. The method according to claim 1, wherein the pivoting (122, 123) through the effective angle α2 is performed by the robot (10).

10. 10. The method according to claim 1, wherein the effective angle α1=90°, the effective angle α2=90°, and the leading turn (122) is performed by α2.

11. 11. The method according to claim 1, wherein the effective angle α1=90° and the effective angle α2=-90°, and the return turn (123) is performed by α2.

12. 12. A method according to any one of the preceding claims, characterized in that the pile of products (1) is held in such a way that it hangs diagonally (150).

13. 7. The method according to claim 2, wherein the transfer (130) of the product pile (1) is carried out from a delivery (72) of a processing machine (70) for printed products (2) to one transport pallet (62) or to one of several transport pallets (62).

14. 14. The method according to claim 1, wherein a plurality of product piles (1) are stacked (152) on a transport pallet (62) in a manner that the piles (1) are horizontally offset from one another and overlap in a plurality of horizontal planes (53) to form a transport pile (64).

15. 15. The method according to claim 14, characterized in that a sensor (66) arranged on the robot (10) detects (151) the height (65) of the transport pile (64).

16. The method described in claim 15, characterized in that the height (65) is detected (151) as a single height value, multiple height values ​​at various horizontal positions or a height profile.

17. 17. A method according to claim 16, characterized in that the robot arm (11) is first moved collision-free above the partially constructed transport pile, the digital computer (80) taking the detected height (65) into account when controlling the movement of the robot arm (11).

18. 18. A method according to claim 17, characterized in that the movements of the robot arm (11) are performed fully automatically, according to a selected stacking pattern and adapted to the production speed of at least one processing machine.

19. 19. Method according to claim 17 or 18, characterized in that the movement of the robot arm (11) is carried out in a protected zone (73).

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