DE102020111448B4 - Device for handling a stack of leaf-shaped goods - Google Patents

Abstract

Device for handling a stack (28, 128, 228, 328, 438) of sheet-shaped material or a partial stack thereof, comprising a multi-axis robot arm (26) with a device (30) which has at least means for grasping, erecting and moving the stack or at least a partial stack, wherein the device (30) has a carrier (34) connected to the robot arm, wherein extending from the carrier is a gripper (35) with lower jaw (36) and upper jaw (38) which are adjustable relative to each other along a first plane,
- at least one adjustable driver (40, 42) with a first contact surface (52) which spans a second plane perpendicular to the first plane, wherein the driver is adjustable in at least one guide of the carrier or extending from it, which runs parallel to the contact surface (52) of the driver
- an aligner (44) which is pivotable about an axis parallel to the first plane and perpendicular to the second plane, wherein an outer surface (54) of the aligner (44) in its basic position spans a third plane which is parallel to the first plane.

Description

The invention relates to a device for handling a stack of sheet-shaped material or a partial stack thereof, comprising a multi-axis robot arm with a device having means for grasping, erecting and moving at least a partial stack of the stack.

The DE 10 2018 108 555 A1 A system and a method for processing a stack of sheet-shaped paper are described. A multi-axis robot arm is used, which has an end effector by means of which the stack can be supported and erected, gripped or shaken without contact, conveyed, blown, and optically detected.

subject of the DE 199 14 580 A1 This is a method for handling stacks of paper on a cutting machine. A handling device is used, comprising a pusher and a clamp with upper and lower jaws to handle the stack. The cutting machine uses a front table with at least one groove into which the pusher can be inserted, or the lower jaw of the clamp can be positioned so that its upper surface lies a short distance below the table surface.

The EP 2 886 220 A1 This concerns a method for handling flat-shaped material for cutting, in which the material is fed to the cutting machine by means of a robot.

The US 2004/0240979 A1 This refers to an arrangement and method for handling a stack of paper using a robotic arm. Extending from the robotic arm is a device comprising a gripper and drivers for aligning a stack to be picked up by the gripper.

The DE 36 13 316 C1 A cutting system with an integrated aligner can be removed.

A device for cutting leaf-shaped material is used in the DE 39 39 596 A1 described. In order to grasp a stack of cut material using a gripper system, the stack is spaced apart from a table by means of pistons, in order to insert a lower jaw of a gripper system into the gap thus formed.

In the case of a gripper device that can be operated by a robot, it follows from the US 6 082 797 A known.

A device for cutting paper according to the EP 0 056 874 A2 It has an organizer.

Even though the material being cut can be handled automatically using existing handling equipment, the necessary designs are complex and require extensive maintenance. Furthermore, a system that allows for trouble-free handling of all cutting processes typically performed manually is not fundamentally intended.

The present invention is based on the objective of further developing a device of the type mentioned at the outset in such a way that, with structurally simple measures, it is possible to process a stack or partial stack of sheet-shaped material without fundamentally requiring changes to the cutting machine and its peripherals.

• - eine Zange mit Unterbacke und Oberbacke, die entlang einer ersten Ebene relativ zueinander verstellbar ausgebildet sind,
• - zumindest ein verstellbarer Mitnehmer mit einer ersten Anlagefläche, die eine senkrecht zu der ersten Ebene verlaufende zweite Ebene aufspannt, wobei der Mitnehmer in zumindest einer Führung des Trägers oder von diesem ausgehend verstellbar ist, die parallel zu desr Anlagefläche des Mitnehmers verläuft,
• - ein Ausrichter, der um eine parallel zu der ersten Ebene und senkrecht zu der zweiten Ebene verlaufende Achse schwenkbar ist, wobei Außenfläche des Ausrichters in seiner Grundstellung eine dritte Ebene aufspannt, die parallel zu der ersten Ebene verläuft.

To solve one or more aspects, it is essentially proposed that the device has a support connected to the robot arm, with the support assuming

• - a pair of pliers with lower jaws and upper jaws that are adjustable relative to each other along a first plane,
• - at least one adjustable driver with a first contact surface spanning a second plane perpendicular to the first plane, wherein the driver is adjustable in at least one guide of the carrier or extending from it, which runs parallel to the contact surface of the driver,
• - an aligner which is pivotable about an axis parallel to the first plane and perpendicular to the second plane, wherein the outer surface of the aligner in its basic position spans a third plane which is parallel to the first plane.

A structurally simple and therefore low-maintenance device is connected to the robot arm to move, rotate, erect, and/or grip a stack or sub-stack of sheet-shaped material in a cutting machine, so that basically all handling operations required for cutting can be carried out automatically without manual intervention.

In order to be able to use the carrier and thus the elements extending from it from all sides, the carrier has a flange that is connected to the robot arm and peripherally connected to the adjustable driver, the gripper jaws and the swiveling aligner, by means of which a stack or sub-stack is placed on top of the cutting process. is directed, i.e., the cutting surface is aligned perpendicular to the support surface of the front table, and is surrounded.

Preferably, the carrier has two adjustable drivers extending from it, which have parallel contact surfaces.

To adjust the driver(s), appropriate guides are provided in or on the carrier, which run parallel to the bearing surface.

If two drivers are present, the aligner extends between them.

To ensure that all sheets of the stack or sub-stack can be moved by the carriers or aligners when in their home position, thus preventing the bottom sheet(s) from getting caught between the carrier or aligner and a cutting machine's support surface, the carrier's contact surface is designed with a first sliding element extending from the bottom edge towards the top edge. Similarly, the aligner's outer surface should have a sliding element extending from the bottom edge. This element can be made of plastic, such as polyethylene (PE-6), polyamide (PA-6), or polyoxymethylene, or of a sliding material, such as copper or brass. Specifically, the sliding element is designed to project beyond the bottom edge in the plane of the contact surface or outer surface, so that when the device is moved, the sliding element slides along the support surface, such as the front table or a side table.

In particular, it is provided that several sliding elements running parallel to each other are provided and embedded in the mounting surface of the aligner.

The sliding elements can be arranged to be slidable within guides, with movement occurring in the direction of the surface along which the device is moved. The sliding elements can slide or be moved within the guides due to gravity or spring force.

The outer surface of the lower jaw facing the upper jaw spans a fourth plane, which runs perpendicular to the first plane.

Linear drives such as pneumatic or hydraulic cylinders or electromechanical actuators extending from the carrier are preferred for adjusting the drivers and upper jaw or pivoting the aligner.

Further details, advantages and features of the invention will become apparent not only from the claims and the features to be derived therefrom - individually and/or in combination - but also from the following description and from the preferred embodiments to be derived from the drawings.

• 1 eine Prinzipdarstellung einer Schneidmaschine mit Roboter,
• 2 eine Prinzipdarstellung einer Schneidmaschine in Draufsicht,
• 3 eine erste Darstellung einer Einrichtung zum Handhaben eines Stapels blattförmigen Guts,
• 4 eine zweite Darstellung der Einrichtung gemäß 3,
• 5 eine dritte Darstellung der Einrichtung gemäß der 3 und 4,
• 6 eine vierte Darstellung der Einrichtung gemäß der 3 bis 5,
• 7 eine fünfte Darstellung der Einrichtung gemäß der 3 bis 6,
• 8 die Einrichtung gemäß der 3 bis 6 mit schräggestelltem Ausrichter und ausgerichtet auf einen geschnittenen Teilstapel,
• 9 die Einrichtung gemäß der 3 bis 7 in einer um 90° gedrehten Position vor Erfassen eines Stapels,
• 10 die Einrichtung gemäß der 3 bis 7 mit von deren Zange aufgenommenem Stapel,
• 11 die Einrichtung gemäß der 3 bis 7 beim Verschieben eines Stapels,
• 12 die Einrichtung gemäß der 3 bis 7 mit weggelassener Anlagefläche, entlang der die Oberbacke der Zange verstellbar ist,
• 12a-c ein Detail der Einrichtung gemäß der 3 bis 7,
• 13-21 Prinzipdarstellungen zur Erläuterung des Durchführens eines Verfahrens zum Rundumbeschnitt eines Stapels blattförmigen Materials,
• 22-26 Prinzipdarstellungen zur Erläuterung des Durchführens eines Verfahrens eines Streifenschnitts eines Stapels blattförmigen Materials und
• 27-40 Prinzipdarstellungen zur Erläuterung des Durchführens eines Verfahrens eines Kreuzschnitts eines Stapels blattförmigen Guts.

They show:

• 1 a schematic diagram of a cutting machine with a robot,
• 2 a schematic diagram of a cutting machine in top view,
• 3 a first representation of a device for handling a stack of leaf-shaped material,
• 4 a second representation of the facility according to 3 ,
• 5 a third representation of the establishment according to the 3 and 4 ,
• 6 a fourth representation of the facility according to the 3 to 5 ,
• 7 a fifth representation of the facility according to the 3 to 6 ,
• 8 the facility according to the 3 to 6 with slanted aligner and aligned to a cut partial stack,
• 9 the facility according to the 3 to 7 in a position rotated by 90° before grasping a stack,
• 10 the facility according to the 3 to 7 with the stack picked up by their tongs
• 11 the facility according to the 3 to 7 when moving a stack,
• 12 the facility according to the 3 to 7 with omitted contact surface along which the upper jaw of the pliers is adjustable,
• 12a -c a detail of the setup according to the 3 to 7 ,
• 13-21 Principle diagrams to explain how to carry out a process for trimming a stack of sheet-shaped material all around,
• 22-26 Principle diagrams to explain how to carry out a process of strip-cutting a stack of sheet-shaped material and
• 27-40 Principle diagrams to explain how to carry out a cross-cutting procedure on a stack of leaf-shaped material.

The figures are intended to explain the invention in more detail. The illustrations are essentially self-explanatory, without requiring further explanation for the average person skilled in the art.

Based on the teaching according to the invention, stacks and/or sub-stacks of sheet-shaped material are handled in order to carry out desired cutting processes on them or to convey them, for example, to further processing stations.

In other words, the teaching according to the invention makes it possible to handle cutting-shaped material with structurally simple measures without the need for manual intervention, while at the same time ensuring that the material can be cut with high precision.

In 1 The schematic diagram shows a cutting machine 10 comprising a portal 12 with a rear table 14 on one side and a front table 16 opposite, and side tables 18 and 20 arranged next to it. A press beam (not shown) and a cutting blade are located in the portal 12. The cutting blade is guided and moved up and down, thus defining a cutting line.

On track 22, a multi-axis robot 24 with a robot arm 26 having several segments can be moved in front of the cutting machine 10, at the end of which a device 30 is attached in order to process a stack 28 or partial stack of sheet-shaped material to be processed by the cutting machine 10 and to be able to handle the stack or partial stack from it.

In 2 The cutting machine 10 is shown again in a purely basic top view. Visible are the portal 12, the rear table 14, which has a feed unit 32, referred to as a saddle, for aligning a stack 28, the front table 16 with the side tables 18, 20, and the robot 24 with the arm 26 and the device 30 attached to it, for aligning it to the desired extent with the stack 28 or a sub-stack thereof.

Facility 30 is located in the 3 to 12c The device 30 comprises a support 34 connected to the robot arm 26. For this purpose, the support 34 has a flange that is connected to the robot flange 27.

The carrier 34 has several means to be able to grasp, rotate and push the stack 28 or a sub-stack thereof in order to perform the tasks that are otherwise carried out manually.

The main components of the device 30 for handling a stack or partial stack are a tong 35, consisting of lower jaw 36 and upper jaw 38, two carriers 40, 42 and a swiveling aligner 44.

The jaws 36 and 38 are adjustable relative to each other along a plane in which a boundary wall 46 runs. When the stack is gripped by the tongs 35, a stack or partial stack can rest against this wall. The relative adjustment of the jaws 36 and 38 therefore occurs parallel to the plane defined by the wall 46, which forms a first plane. Furthermore, to grip the stack or partial stack, the upper jaw 38 is adjustable relative to the lower jaw 36, for example, by means of a pneumatic or hydraulic cylinder or other actuator.

Perpendicular to the boundary wall 46, and thus to the first level, the support 34 has walls 48, 50 along which the drivers 40, 42 are translationally adjustable by means of cylinders 41, 43. The drivers 40, 42 each have a contact surface 52 against which a stack or partial stack to be moved is placed. The contact surfaces 52 form a second level.

The aligner 44 runs between the drivers 40 and 42, its contact surface 54 being perpendicular to the contact surfaces 52 of the drivers 40 and 42. In the basic position, as shown by the 5 As can be seen, the mounting surface 54 also runs parallel to the first plane spanned by the boundary wall 46. In this position, the mounting surface 54 spans a third plane that runs parallel to the first plane.

Thus, the walls 48, 50 with the drivers 40, 42 define the wall 46, along which the upper jaw of the pliers 38 is adjustable, and the aligner 44 in the basic position defines a hollow cuboid, as can be clearly seen from the drawings.

According to the representation in 6 The aligner 44 is pivotable about an axis that runs perpendicular to the drivers 40, 42, i.e., the second plane, and parallel to the first plane. In the exemplary embodiment, the pivoting is effected by a cylinder 45 (see figure). 12a) .

In the basic position of the aligner 44 (see e.g. 3 , 4 , 5 ) the planes spanned by the drivers 40, 42, the aligner 44 and the wall 46 then run perpendicular to the support surface 15 of the front table 16 when the drivers 40, 42 move a stack or partial stack or to be captured by the pliers 35, so that a unique geometric assignment is given.

The individual elements are preferably adjusted via hydraulic or pneumatic cylinders, although electromechanical actuators are also possible. Other drive options are equally viable.

The drawing illustrates a further feature that characterizes the invention. Sliding elements are embedded in the contact surfaces 52, 54 of the drivers 40, 42 and the aligner 44. The sliding elements 56 of the drivers 40, 42 are referred to as first sliding elements, and the sliding elements 58, 60 of the aligner 44 as second sliding elements. The sliding elements 56, 58, 60, which are flush with the respective contact surfaces 52, 54 of the drivers 40, 42 and the aligner 44 on their outer surface, preferably project slightly beyond the respective lower or bottom edge 62, 64, 66 of the drivers 40, 42 and the aligner 44, as viewed in the plane of the respective contact surface 52, 54. This is also evident from the drawings.

This results in the advantage that the device 30 on the top, i.e. support surface 15 of the front table 16 or the side tables 18, 20, can be adjusted by sliding.

Preferably, the sliding elements 56, 58, 60 are adjustable in guides by gravity or by spring preload in order to compensate for any unevenness on the support surfaces on which 30 stacks are to be rotated or moved by means of the device.

In particular, the sliding elements 56, 58, 60 offer the advantage that all sheets of the stack or sub-stack or layer can be moved, thus eliminating the risk of a sheet getting into any gap between the device 30 and the support surface along which the device 30 is moved.

As can be seen from the drawings, the sliding elements 56, 58, 60 are strip-shaped and extend in the direction of the respective upper edge 64, 66 of the drivers 40, 42 or of the aligner 44.

The upper surface of the lower jaw 36, i.e., the surface 70 facing the upper jaw 38, runs in a plane that extends perpendicular to the plane formed by the drivers 40, 42, the aligner 44, and the rear wall 46. The underside 72 of the upper jaw 38 runs parallel to this plane.

The underside of the lower jaw 36 can optionally span a plane in which the lower edges 62, 64, 66 of the drivers 40, 42 and the aligner 44 or the lower edges 74, 76 of the first and second sliding elements 56, 58, 60 extend.

In 7 The device 30 is shown in a working position in which a stack or partial stack - also called paper layer - is gripped between the lower and upper jaws 38, 36 of the pliers 35 in order to, for example, turn or transport it.

8 The diagram shows the device 30 in a position where the aligner 44 is tilted to align the stack 128 vertically with respect to its front edge 129 after the cut. For this purpose, the device 30 is positioned at a distance from the front edge 129. After the cut, the device 30, with the aligner 44, moves against the edge 129, and the stack 128 is pushed against the partial stack located on the rear table and erected. Subsequently, the front table 16 moves to the left in the diagram, creating a gap 17 between the front table 16 and the rear table 14. A flap extending from the front table 16 is swung upwards and aligned vertically to realign the stack 128 once again.

Of course, the invention is not abandoned if only an alignment process takes place, i.e., immediately after the cut or after the flap has been folded up.

In the 9 and 10 Is the facility 30 compared to those in the 7 and 8 The positions shown are rotated by 90°. Simultaneously, the front table 16 is lowered relative to the rear table 14 to such an extent that the upper surface 70 of the lower jaw 36 is flush with the upper surface, i.e., the support surface, of the rear table 14. The clamp 35 is opened to such an extent that the stack still located on the rear table 14 is pushed between the lower jaw 36 and the upper jaw 38 by means of a saddle 32, in order to then close the clamp 35 and, after aligning the support surface of the front table 16, move the stack onto the support surface of the rear table 14 and, for example, place it against a stop, as described below.

Of course, the stack can also be captured from the cutting line, so that the device for receiving the stack does not need to be rotated.

In the 11 The device 30 is shown when a stack is moved from the front table 16 to the side table 18. For this purpose, the Stack 128 is attached to both the contact surface of the carrier 42 and the aligner 44 or its contact surface in the basic position of the aligner 44.

The 12 The device 30 is shown with the boundary wall 46 removed, which serves as a support surface for a stack when it is gripped by the gripper 35.

A section of the robot arm 26 is shown, including its flange 27, which is connected to a flange on the support 34 of the device 30. Also indicated are the cylinders 41 and 43, which provide the translational movement of the drivers 40 and 42. Furthermore, the cylinders and their housings 37 and 39 are shown, by means of which the upper jaw 38 can be adjusted relative to the lower jaw 36.

In order to provide a compact unit and at the same time generate sufficient force to grasp a stack of sheet-like material, the following inventive constructive solution is provided.

The 12a , 12b and 12c Details regarding the drives for the aligner 44 and the upper jaw 38 of the pliers 35 can be found in the following.

The aligner 44 is pivotable by means of a cylinder 45 about the axis running parallel to the jaws 36, 38 and perpendicular to the drivers 40, 42. The cylinder 45, in turn, is pivotably mounted about an axis 47 running parallel to this axis. The piston 49 of the cylinder 45 is pivotally connected to the aligner 44, as shown in the 12a It is self-explanatory.

To adjust the upper jaw 38 relative to the lower jaw 36 of the pliers 35, cylinders 37 and 39 are used, the pistons 137 of which are connected via a lever 139 to a shaft 141, so that the shaft is rotated when the piston 137 is adjusted. Longer levers 143 extend from the shaft 141 compared to the levers 139, each having an elongated slot 145 into which a cam roller 147 engages. Each cam roller extends from a leg 151 that runs perpendicular to the longitudinal axis of the upper jaw 138 and is adjustable in a guide 149 of the carrier 34.

The drawing shows only one short leg or lever 139 and one long leg or lever 143, and correspondingly only one guide 149. Accordingly, between the cylinder 37 and the adjacent boundary wall of the support 34, there is another guide for a leg or lever with a cam roller, also extending from the upper jaw 138.

When the pistons of cylinders 37, 39 are adjusted, the shaft 141 is rotated by means of the short levers 139. This causes the long levers 143 extending from the shaft 141 to pivot, so that the cam rollers 147 or co-acting elements, such as cam blocks, are adjusted in the elongated holes 145, thus moving the upper jaw 38 towards or away from the lower jaw 36.

Based on the 13 to 40 Application cases of the device 30 according to the invention will be explained. The same reference numerals will be used for identical elements.

The 13 to 21 This is intended to explain the all-around trimming of a sheet or stack of paper 128. In a first step, the stack 128 is conveyed onto the rear table 14 and aligned and positioned to size using the saddle 32 ( 14 ). Simultaneously, the front table 16 is moved away from the cutting line to form the gap 17, creating a clearance adjacent to the cutting edge into which the cut-off edge falls. The front table then closes the gap and is lowered to such an extent that the top surface 70 of the lower jaw 36 is flush with the top surface 132 of the rear table 14, i.e., its support surface. Furthermore, the device 30 is positioned such that when the stack 128 is moved by means of the saddle 32, the longitudinal edge 130 (in the 15 the right edge) can be gripped by the pliers 35 ( 15 , 16 For this purpose, the device 30 is pivoted by 90°. The device 30 is located exclusively in the area of the front table 16, ensuring that the surface 70 is flush with the top 132 of the rear table.

After the position or stack 128 has been detected by the gripper 35 ( 16 ) the saddle 32 moves back and the stack 128 is rotated 90° clockwise by means of the device 30 ( 17 The front table 16 has been raised again. Accordingly, the device 30 has been adjusted by means of the robot arm so that the stack 128 can be moved.

As the 18 To illustrate, the stack 128 is then pushed beyond the cutting line towards the saddle 32, in order to subsequently align the stack 128 precisely with the cutting line by means of the saddle 32. For precise positioning, the aligner 44, which is in its home position, i.e., its plane spanned by the support surface perpendicular to the support surfaces 15, 132 of the front table 16 and the rear table 16, presses down. tertischs 14 runs, the stack 128 against the saddle 32.

Subsequently, the stack 128 is placed against a side stop of the rear table 14 by means of the aligner 44, which runs perpendicular to the stop surface of the saddle 32 and thus also perpendicular to the cutting line.

The robot arm 26, and thus the device 30, retracts. With the front table 16 open, an edge section of layer 128 is cut off, and the other edges 3 and 4 are cut accordingly.

The handling of a stack of 328 to perform strip cutting is described using the 22 to 26 explained.

First, the stack or layer 328 is positioned to size using the saddle 32, without the need for intervention by the device 30. Then, the device 30 is aligned with the front edge 330 of the stack 328 such that the aligner 44 runs parallel to and rests against the front edge 330 of the stack 328. Next, the device 30 is tilted, i.e., it is retracted and the aligner 44 is simultaneously tilted. The cut is then made, and due to the wedge-shaped blade, the strip rests against the tilted contact surface 55 of the aligner 44. Finally, the strip 332 is erected by being placed against the rest of the stack 328. The front table 16 is retracted to form the gap 17. Furthermore, the flap located at the front, i.e., cutting-side, edge of the front table 16 is pivoted upwards and aligned vertically with the support surface 15 of the front table 16, in order to then raise the strip against the flap by means of the aligner 44. After raising, the mutually facing surfaces of the contact surface 54 of the aligner 44 and the flap run parallel and perpendicular to the support surface 15 of the front table 16.

The device 30 is then aligned on the strip 332 such that, in the exemplary embodiment, the driver 40 rests against the cut-off end region 334 of the strip 332, i.e., the driver 40 is extended and protrudes above the contact surface 54 of the aligner 44 in its home position, as is generally the case with the 25 This can be seen in the figures in which - as in the other figures - the drivers 40, 42 are shown purely in principle and have been made identifiable for better perception.

The robot arm 26 and thus the device 30 are then moved to the right in the drawing to place the strip 332 on the side table 20.

Accordingly, further strips can be cut from the stack 328 and moved to one of the side tables 18, 20.

Based on the 27 to 40 This section will explain how to perform a cross-cut on a stack of 428, with the figures being self-explanatory.

First, the stack 428 is positioned to size using the saddle 32 ( 27 ), in order to then align the aligner 44 of the device 30 with the front edge 430. Subsequently, the contact surface 54 of the aligner 44 is tilted so that a V-shaped gap results, which tapers towards the bottom, i.e. in the direction of the front table 16.

After cutting and vertically erecting the partial stack 438 by sliding it against the rest of the stack 428, the front table 16 is retracted to form the gap 17. The contact surface 54 of the aligner 44 is then perpendicular to the support surface 15 of the front table 16. The flap of the front table 16 is raised, and the partial stack 438 is pressed against it, thus realigning it.

The corresponding sub-stack or sub-layer 438 is moved onto the side table 20 after the device 30 with the aligner 44 in its home position has been placed against the left side edge 440 of the sub-stack 438.

The front table 16 is then closed and lowered to align the top 70 of the tongs' lower jaw 36 with the top 132 of the rear table 14. Simultaneously, the tongs 35 are positioned in front of the cutting line.

The remaining partial stack 448 on the rear table 14 is pushed by the saddle 32 into the clamp 35 so that it can be rotated after being fixed in place. Before this, the saddle 32 retracts, the device 30 and thus the clamp 35 are raised, as is the front table 16, so that the partial stack 448 can then be rotated by means of the device 30.

The partial stack or layer 448 is then positioned by using the gripper 35 to place the partial stack 448 against a left-hand edge of the rear table 14 and advancing the saddle 32 as required. The device 30 is aligned with the front edge 450 of the partial stack 448 in the area of the front table 16 and tilted. The cut is then made to erect the resulting partial stack 458, with the device 30 The robot arm 46 adjusts the position accordingly. After the front table 16 is retracted, the flap located in the cutting-side edge area is swung upwards, and the next partial stack 458 is realigned by the aligner 44 pressing the partial stack 458 against the flap.

Of course, the sub-stack 458 can also be aligned only once, either after the cut has been made or by pressing the sub-stack 458 against the flap.

Then, by pivoting the robot arm 26, the aligner 44 is aligned to the right edge area 450 of the partial stack 458 shown in the drawings and moved to the left side table 18.

The front table 16 then closes the gap 17, and the saddle 32 moves the remaining partial stack 468 onto the front table 16 after the front table 16 has been closed. The front table 16 is then raised so that the partial stack 468 can be aligned with the partial stack 458 on the side table 18 by means of the aligner 44 of the device 30.

The side table 18 is opened to such an extent that the sub-stack 458 is aligned with the sub-stack 448 with respect to the longitudinal edges.

Then, the partial stack 438 located on the side table 20 is grasped and rotated and positioned against the left side stop in the area of the rear table 14 by means of the device 30 and the aligner 44, as described by the 33 The process is self-explanatory. The position relative to the cutting line is then determined using the saddle 32.

The aligner 44 is then aligned with the front edge 460 of the partial stack 438, the front table 16 is moved forward, the aligner 44 is tilted, and then, after the cut, an alignment is carried out as previously described, whereby alignment with the swung-out flap of the front table 16 takes place. The resulting partial stack 468 can then be pushed onto the left side table 18 by means of the device 30.

Accordingly, the remaining stack of parts still on the rear table can be positioned by means of the device 30, taking into account the adjustment of the front table 16 onto the side table 20 and aligned with the previously arranged stack of parts 468 on it.

Claims (19)

Device for handling a stack (28, 128, 228, 328, 438) of sheet-shaped material or a partial stack thereof, comprising a multi-axis robot arm (26) with a device (30) having at least means for grasping, erecting, and moving the stack or at least a partial stack, wherein the device (30) has a carrier (34) connected to the robot arm, wherein extending from the carrier is a gripper (35) with a lower jaw (36) and an upper jaw (38) which are adjustable relative to each other along a first plane, - at least one adjustable driver (40, 42) with a first contact surface (52) which spans a second plane perpendicular to the first plane, wherein the driver is adjustable in at least one guide of the carrier or extending from it, which is parallel to the contact surface (52) of the driver, - an aligner (44) which is aligned about an axis extending parallel to the first plane and perpendicular to the second plane is pivotable, wherein an outer surface (54) of the aligner (44) in its basic position spans a third plane that runs parallel to the first plane. Device according to Claim 1 , characterized in that an adjustable second driver (40) extends from the carrier (34) with a second contact surface which runs parallel to the first contact surface (52). Device according to Claim 1 or 2 , characterized in that a lower edge (62, 64) of the at least one driver (40, 42), a lower edge (66) of the aligner (44) in its basic position and an upper jaw-side upper surface (70) of the lower jaw (36) run in a common plane or parallel planes. Device according to at least one of the preceding claims, characterized in that the lower jaw (36) is stationary and the upper jaw (38) is adjustable relative to it. Device according to at least one of the preceding claims, characterized in that the carrier (34) has a flange which is connected to the robot arm (26), wherein the flange is surrounded inside the carrier and peripherally by the gripper (35), the at least one driver (40, 42) and the aligner (44). device according to at least Claim 2 , characterized in that the aligner (44) is arranged between the first and the second driver (40, 42). device according to at least Claim 3 , characterized in that a first sliding element (56) is provided starting from the lower edge (62, 64) of the contact surface (52) of the driver (40, 42), the outer surface of which merges flush with the contact surface. device according to at least Claim 3 , characterized in that a second sliding element (58, 60) is provided starting from the lower edge (66) of the outer surface (54) of the aligner (44), the outer surface of which merges flush with the outer surface (54) of the aligner (44). device according to at least Claim 7 and/or 8, characterized in that the first sliding element (56) in the plane of the contact surface (52) of the driver (40, 42) projects beyond the lower edge (62, 64) of the driver (40, 42) and/or the second sliding element (58, 60) in the plane of the aligner (44) projects beyond the lower edge (66) of the aligner (44). device according to at least Claim 7 and/or 8, characterized in that the sliding element (56, 58, 60) is subjected to force due to gravity and/or spring preload in the direction of the lower edge (62, 64, 66) of the driver (40, 42) and/or the aligner (44). device according to at least Claim 7 , characterized in that several second sliding elements (58, 60) running parallel to each other and extending in the direction of its upper edge are provided and embedded in the outer surface (54) of the aligner (44). device according to at least Claim 3 , characterized in that the upper surface (70) of the lower jaw (36) associated with the upper jaw (38) of the pliers (35) spans a plane that is perpendicular to the first, second and third plane. Device according to at least one of the preceding claims, characterized in that an underside of the lower jaw (36) runs in a plane in which the lower edge (62, 64, 66) of the driver (40, 42) and/or the aligner (44) and/or the first and/or second sliding element (56, 58, 60) runs. Device according to at least one of the preceding claims, characterized in that the upper jaw (38) and/or the driver(s) (40, 42) and/or the aligner (44) can be actuated by linear drives such as pneumatic or hydraulic cylinders or electromechanical actuators extending from or connected to the carrier (34). device according to at least Claim 2 , characterized in that an adjustment path of the upper jaw (38) is limited by a limiting wall (46) extending along the carrier side, which spans a plane that is perpendicular to the first and second drivers (40, 42) and parallel to the aligner (44) in its basic position. device according to at least Claim 15 , characterized in that the boundary walls (46) of the first or second driver (40, 42) and those of the aligner (44) in their basic positions define an open cuboid at least partially. Device according to at least one of the preceding claims, characterized in that the upper jaw (38) of the pliers (35) has legs (151) extending perpendicular to the longitudinal axis of the upper jaw, which are guided in guides (149) of the carrier (34). device according to at least Claim 17 , characterized in that projections (147) extend from the legs (151) which are adjustable in longitudinal receptacles (145) which are located in levers (143) which in turn are pivotable by means of at least one drive element, such as cylinders (37, 39). device according to at least Claim 18 , characterized in that the levers (143) extend from a shaft (141) which can be rotated by means of the at least one drive element (37, 39).