Grasping system and method for inserting separation sheets in a receptacle
AssigneeBobst Mex SA
InventorChristophe Steiner
Life of this patent
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Abstract
The invention relates to grasping system comprising a grasping head (15) for a sheet transporting device, in particular for transporting an insert sheet to be inserted between rows of folding boxes in a receptacle, the grasping head (15) having at least one support frame (80) and a plurality of aspiration elements (17, 18). The aspiration elements (17, 18) are mounted on holding elements (50) which are received on the support frame (80) so as to be displaceable with respect to the support frame (80).
Claims20
A grasping system for placing an insert sheet between rows of folding boxes in a receptacle, the grasping system comprising:
- a grasping head configured to grasp and pick up the insert sheet from a loading location, and displace and position the insert sheet on a depositing surface in the receptacle,
- the grasping head having a support frame and a plurality of gripping elements, the plurality of gripping elements configured to adhere to an upper surface of the insert sheet, the gripping elements being connected to the support frame via a plurality of holding elements, which are movably mounted to the support frame, and wherein the holding elements and the gripping elements are movable in a vertical direction in relation to the support frame when the gripping elements contact the insert sheet or the depositing surface in the receptacle,
- wherein the grasping system further comprises a control unit and sensing arrangement, the sensing arrangement being configured to sense a vertical displacement of the holding elements with respect to the support frame, and wherein the control unit is configured to receive information from the sensing arrangement and determine when the grasping head is brought into contact with the insert sheet or the depositing surface,
- wherein the control unit is configured to move the grasping head laterally to a first descent position stored as spatial coordinates in a memory and to a second descent position stored as spatial coordinates in the memory, and
- wherein the control unit is configured to move the grasping head at a speed from the first descent position or the second descent position to a first loading position or a second loading position vertically aligned with the first descent position and the second descent position, respectively, the first descent position and second descent position defined by the sensing of the vertical displacement of at least one of the holding elements with respect to the support frame.
A method of introducing an insert sheet into a receptacle or between rows of folding boxes by using a grasping head comprising a plurality gripping elements which are mounted on vertically displaceable holding elements, movably connected to a support frame including a first frame portion and a second frame portion, the method comprising:
- moving the grasping head to be vertically aligned with a loading location and lowering the grasping head at a speed until the gripping elements contact an upper surface of the insert sheet,
- moving the support frame further downwards a predetermined distance whereby the support frame moves in relation to the holding elements and the gripping elements remain stationary against the upper surface of the insert sheet,
- detecting a displacement of at least one holding member, decelerating the movement of the grasping head from a first speed upon detection of the displacement of the at least one holding member, and stopping a further downward movement of the grasping head,
- grasping the insert sheet such that the insert sheet adheres to the gripping elements,
- moving the first frame portion closer towards the second frame portion such that the insert sheet is folded,
- picking up, displacing, and positioning the insert sheet such that the insert sheet is aligned with an opening in the receptacle,
- lowering the grasping head and placing the insert sheet on a depositing surface in the receptacle,
- moving the support frame further downwards a predetermined distance whereby the support frame moves in relation to the holding elements and while the insert sheet remains stationary against the upper surface of the insert sheet,
- detecting a displacement of at least one holding element and stopping a further downward movement of the grasping head, and
- releasing the gripping elements from the insert sheet.
Dependencies are inferred from the claim text.