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CN-122008179-A - Method for disassembling stacks of partial stacks of flat products

CN122008179ACN 122008179 ACN122008179 ACN 122008179ACN-122008179-A

Abstract

Method for disassembling stacks of partial stacks of flat products, wherein the stacks and/or the geometric data of the partial stacks are optically recorded, and the partial stacks are picked up from the stacks individually or in groups in succession using a robot arm that can be moved in a controlled manner and using the geometric data for the movement control of the robot arm. At least one partial stack is provided with a code printed on the upper flat product of the partial stack, which code is optically acquired by an acquisition device, in which code the geometric data are stored and read for the motion control of the robot arm, and/or identification data for the geometric data are stored in which code, are read and the geometric data stored in a digital memory in correspondence with these identification data are recalled for the motion control of the robot arm. The invention allows a stack of partial stacks of flat products to be removed quickly, safely, precisely and without errors and the partial stacks to be transported to a subsequent processing step in the same way.

Inventors

  • S. inner cloth
  • M. Urstrachel
  • S. Mushar
  • L. L. Heilmann

Assignees

  • 海德堡印刷机械股份公司

Dates

Publication Date
20260512
Application Date
20251112
Priority Date
20241112

Claims (16)

  1. 1. Method for disassembling a stack (1) of partial stacks (2, 3, 4) of flat products (10), wherein geometrical data (21) of the stack (1) and/or of the partial stacks (2, 3, 4) are optically acquired, and wherein the partial stacks (2, 3, 4) are picked up individually or in groups one after the other from the stack (1) with a robot arm (31) that can be moved in a controlled manner and with movement control of the robot arm (31) using the geometrical data (21), At least one partial stack (2, 3, 4) is provided with at least one code (20) printed on the upper flat product (11) of the partial stack (2, 3, 4), The code (20) is optically captured by a capture device (37), and The geometric data (21) are stored in the code (20) and read for movement control of the robotic arm (31), and/or Identification data (22) for the geometric data (21) are stored in the code (20) and read, and the geometric data (21) stored in a digital memory (34) corresponding to these identification data (22) are called for the movement control of the robot arm (31).
  2. 2. The method of claim 1, wherein the step of determining the position of the substrate comprises, The upper flat product (11) is placed horizontally and the actual X-position (44) and the actual Y-position (45) of the code (20) are also acquired when the code (20) is acquired.
  3. 3. The method of claim 2, wherein the step of determining the position of the substrate comprises, The actual angle (46) of the code (20) is also acquired when the code (20) is acquired.
  4. 4. A method according to claim 2 or 3, characterized in that, The upper flat product (11) is placed horizontally and the read or called geometric data (21) of the upper flat product (11) comprise a target X position (47) and a target Y position (48) for the upper flat product (11) and thus the associated partial stack (2, 3, 4).
  5. 5. The method of claim 4, wherein the step of determining the position of the first electrode is performed, The read or called geometric data (21) of the upper flat product (11) comprise a target angle (49) for the upper flat product (11) and the associated partial stack (2, 3, 4) as a result.
  6. 6. The method according to claim 4 or 5, wherein, -Using said actual X-position (44), said actual Y-position (45), said target X-position (47) and said target Y-position (48) to check by calculation whether said upper flat product (11) and thus the belonging partial stack (2, 3, 4) is correctly positioned.
  7. 7. The method of claim 6, wherein the step of providing the first layer comprises, -Using said actual angle (46) and said target angle (49) to check by calculation whether said upper flat product (11) and thus the belonging partial stacks (2, 3, 4) are correctly aligned in the horizontal plane (43).
  8. 8. The method according to any of the preceding claims, characterized in that, A first code (20) of a first partial stack (2) is recorded at a first location (2 a), and the association of the first code (21) with the first location (2 a) is checked by means of a calculation technique using the geometric data (21) stored in the first code (20) or the called geometric data (21) as being correct or incorrect taking into account the predetermined location tolerances.
  9. 9. The method according to any of the preceding claims, characterized in that, Further information is stored in the code (21) and/or further information stored in a digital memory (34) corresponding to the identification data (22) is called up.
  10. 10. The method of claim 9, wherein the step of determining the position of the substrate comprises, The further information is used to determine a preset value (36) of a gripping tool (32) for gripping individual partial stacks (2, 3, 4).
  11. 11. The method according to any of the preceding claims, characterized in that, There are a plurality of codes (20, 23, 25) for each partial stack (2, 3, 4).
  12. 12. The method of claim 11, wherein the step of determining the position of the probe is performed, A plurality of codes (20, 23, 25) are acquired simultaneously.
  13. 13. The method according to any of the preceding claims, characterized in that, The code (20) is printed on the flat product (2, 3, 4) at predetermined locations.
  14. 14. The method of claim 13, wherein the step of determining the position of the probe is performed, The code (20) is printed on an adhesive flap (12) of an unfolded and flat folded box blank (11).
  15. 15. The method according to any of the preceding claims, characterized in that, The code (20) is provided and printed as a digital two-dimensional code.
  16. 16. The method according to any of the preceding claims, characterized in that, The acquisition device (37) is arranged on the robotic arm (31).

Description

Method for disassembling stacks of partial stacks of flat products Technical Field The invention relates to a method for removing stacks of partial stacks of flat products. The invention is in the technical field of the graphics industry, in particular in connection with handling (e.g. gripping, holding, picking up, moving and placing) stacks of stacked, flexible, preferably printed and folded flat products (e.g. printed sheets or foldings), preferably made of paper, cardboard, plastic or composite material, using manipulators, in particular robots with robotic arms and gripping means for stacking, for example during stacking and destacking. Background In the field of printed matter production, in particular cardboard packaging production, it is known to place a stack of partial stacks of a plurality of flat products on a (transport) tray at one station and to disassemble or destack again after transport to another station. In building a (total) stack, a selected build plan is typically used, which specifies the position and orientation of the partial stack in all layers of the stack. Palletizing and destacking can be done manually, but this is very laborious and burdensome on the back, and robots are increasingly used, since both tasks have to be done very quickly. Technical solutions are known in the field of destacking or destacking. US201300170053A1 and DE69305122T2 each disclose a device for removing stacks of partial stacks of flat products, wherein the partial stacks are under the action of a controlled movable robotic arm and use the data generated by the sensors to control the movement of the robotic arm, which in turn picks up from the stacks. DE69305122T2 allows picking up a partial stack from the stack even if the partial stack deviates slightly from the correct theoretical position. JP2019151421a discloses a destacking robot which performs destacking in cooperation with a sensor system beside the stack. US20150203304A1 discloses a similar thing, but the sensor system is located above the stack. DE102022129021A1 uses a digital segmentation method in addition to the sensor system above the stack. Sensing the geometry of the stack and/or portions of the stack can be difficult because there are sometimes complex geometries (e.g., due to the build scheme used) and large dimensions. During depalletizing, the problem may occur that the (pallet) stacks built up from partial stacks of flat products according to the building scheme are disturbed, for example, that the partial stacks are displaced, when transported to the (subsequent processing) machine. It may also happen that all partial stacks are misplaced on the pallet, for example, the pallet is not correctly placed at the time of stack construction. It may also happen that the trays are not correctly placed during destacking and therefore that part of the stack is also misplaced. In addition, an erroneous build scheme may be used. Such errors may cause problems in destacking. Technical solutions are also known in the field of printed product marking. DE102005037497A1 discloses a method for marking individual printed sheets on printed sheets using machine-readable unique codes, for example two-dimensional bar codes. The printed sheet thus encoded can be rejected in a subsequent processing machine, for example in a carton bonder, in the event of errors (e.g. false images). The information value of the individual codes can be associated with error information, and the corresponding data can be transmitted via data lines, data memories, etc. to a data processing device of a subsequent processing machine. Manufacturers of graphic products, i.e. printing plants with pre-press, actual printing and post-press processing links, continue to desire improvements, i.e. increase production speeds while maintaining or even increasing product quality. The same is true in the field of manufacturing folding boxes, in which folding box blanks are produced (printed and die cut) and stacked, and then the stack is broken up into partial stacks, which are subsequently processed in a folding box bonder. Disclosure of Invention It is therefore an object of the present invention to provide improvements over the prior art, in particular to enable a quick, safe, precise and error-free disassembly of a stack of partial stacks of flat products and a likewise quick, safe, precise and error-free transport of the partial stacks to a subsequent processing stage. According to the application, this object is achieved by a method having the features of the preferred embodiment of the application. The invention relates to a method for disassembling stacks of partial stacks of flat products, wherein the stacks and/or the geometric data of the partial stacks are optically recorded, the partial stacks are picked up from the stacks individually or in groups in succession using a robot arm that can be moved in a controlled manner and the geometric data are used for the movement control of t