Substrate handling system comprising a robot cell and method for operating the same

Patent metadata

Field	Value
Publication number	US-11485594-B2
Application number	US-202017609426-A
Country	US
Kind code	B2
Filing date	May 13, 2020
Priority date	Jun 14, 2019
Publication date	Nov 1, 2022
Grant date	Nov 1, 2022

Abstract

A substrate handling system including an infeed system for feeding stacked substrates and including a processing machine for processing stacked substrates, and in particular a printing press for printing stacked substrates. A robot cell is provided between the infeed system and the processing machine. The robot cell comprises one or two gripper systems, each for handling a plurality of substrates. The robot cell is configured in such a way, that selectively differently stacked substrates, which are feedable by the infeed system, can be handled.

First claim

The invention claimed is:

1. A substrate handling system, comprising;
an infeed system ( 2 ) for feeding stacked substrates;
processing machine ( 1 ) for processing the stacked substrates;
a robot cell ( 3 ) between the infeed system ( 2 ) and the processing machine ( 1 ), wherein the robot cell ( 3 ) includes at least one gripper system ( 3 . 2 ) for handling a plurality of the stacked substrates, the robot cell ( 3 ) being configured whereby selectively differently stacked ones of the stacked substrates feedable by the infeed system ( 2 ) are handled, the infeed system ( 2 ) feeding substrate piles ( 4 ) made of substrates present in containers ( 2 . 3 ) and separated by stacking aids ( 6 , 7 ), the robot cell ( 3 ) comprising a dual-arm robot ( 3 . 1 ), which dual-arm robot grips a partial pile of one of the substrate piles ( 4 ).

2. The substrate handling system according to claim 1 , wherein the infeed system ( 2 ) feeds substrate piles ( 4 ) made of substrates that are stacked without being separated and stages one of the substrate piles ( 4 ) in a defined space ( 2 . 1 ) with respect to the robot cell ( 3 , 3 . 1 ).

3. The substrate handling system according to claim 1 , wherein a deposition table ( 8 ) is provided, onto which deposition table the gripped partial piles can be deposited by the at least one gripper system ( 3 . 2 ), and wherein a substrate pile of the gripped partial piles is ( 4 ) formed between the deposition table ( 8 ) and the processing machine ( 1 ).

4. The substrate handling system according to claim 1 , wherein the processing machine ( 1 ) comprises a non-stop feeder ( 1 . 1 ), and the processing machine ( 1 ) is fed substrate piles ( 4 ) composed of stacked partial piles without interruption.

5. The substrate handling system according to claim 1 , wherein the at least one gripper system ( 3 . 2 ) removes stacking aids ( 6 , 7 ) from fed substrate piles ( 4 ) and from containers ( 2 . 3 ), and wherein the robot cell ( 3 ) has at least one of a collection space and a collection container for the stacking aids ( 6 , 7 ), and wherein the at least one gripper system ( 3 . 2 ) one of is configured to feed stacking aids ( 6 , 7 ) to the collection space and to the collection container.

6. The substrate handling system according to claim 1 , wherein at least one measuring system ( 9 ) for use in ascertaining a number of fed substrate sheets is assigned to the robot cell ( 3 ), and one of wherein the measuring system ( 9 ) is liftable and the substrate pile ( 4 ) is lowerable, while a feeler ( 9 . 1 ) of the measuring system ( 9 ) is located between substrate sheets located, at least in areas, directly on top of one another.

7. The substrate handling system according to claim 1 , wherein a or the measuring system ( 9 ) is assigned to one of a robot arm of a robot ( 3 . 1 ), and to a separate one of an arm and a frame ( 10 ), in an area of a staging space ( 2 . 1 ) of the infeed system ( 2 ).

8. The substrate handling system according to claim 1 , one of wherein the infeed system ( 2 ) feeds substrate piles ( 4 ) of ones of substrates that are stacked without being separated and of substrates separated by stacking aids ( 6 , 7 ) and which substrates are present in the containers ( 2 . 3 ), which are located on pallets ( 5 ), by the use of a logistic system ( 2 . 2 ) to one of a lifting element of a staging space ( 2 . 1 ), and wherein the infeed system ( 2 ) comprises a logistic system ( 2 . 2 ), by the use of which logistic system ( 2 . 2 ) empty pallets ( 5 ) are stored in one of an area of the robot cell ( 3 , 3 . 1 ) and in a magazine.

9. The substrate handling system according to claim 8 , wherein the staging space ( 2 . 1 ) includes one of a lifting frame for vertically displacing fed pallets ( 5 ) and at least one hold-down device for at least temporarily holding down substrates.

10. A method for operating a substrate handling system, including;
providing an infeed system ( 2 ) for feeding stacked substrates;
providing a processing machine ( 1 ) for processing the stacked substrates;
providing a robot cell ( 3 ) between the infeed system ( 2 ) and the processing machine ( 1 ), and
configuring the robot cell ( 3 ) having at least one gripper system ( 3 . 2 ), for handling a plurality of substrates;
feeding substrate piles ( 4 ) made of selectively differently stacked substrates the substrate piles ( 4 ) being made of substrates separated by stacking aids ( 6 , 7 ) and being present in containers ( 2 . 3 ) using the infeed system ( 2 ); and
using the at least one gripper system for gripping counted partial piles made of the fed substrate piles ( 3 . 2 ).

11. The method according to claim 10 , further including one of staging ( 4 ), a substrate pile ( 4 ) and a container ( 2 . 3 ) in a defined space ( 2 . 1 ) with respect to the robot cell using the infeed system ( 2 ) ( 3 , 3 . 1 ), and separating the substrates of the particular partial pile one of from one another and among one another using the at least one gripper system ( 3 . 2 ).

12. The method according to claim 10 , further including detecting the fed substrate piles ( 4 ) using sensors, and handling partial piles gripped by the at least one gripper system ( 3 . 2 ) corresponding to sensor values detected by using the sensors.

13. The method according to claim 10 , further including removing stacking aids ( 6 , 7 ) during the processing process using a dual-arm robot ( 3 . 1 ) in an automated manner, and feeding the removed stacking aids ( 6 , 7 ) to one of a collection space, a collection container and a container ( 2 . 3 ) by using the at least one gripper system ( 3 . 2 ).

14. The method according to claim 10 , further including gripping ones of pile boards ( 6 ) and spacer plates ( 7 ) using the at least one gripper system ( 3 . 2 ) of the robot cell ( 3 , 3 . 1 ) for handling.

15. The method according to claim 10 , further including transferring substrate piles ( 4 ) present on a non-stop system pallet ( 5 ), which substrate piles ( 4 ) have been handled by the robot cell ( 3 , 3 . 1 ), to a non-stop feeder ( 1 . 1 ) of the processing machine ( 1 ) in an automated manner.

Assignees

• Koenig & Bauer Ag

Inventors

• Schubert Julian

Classifications

• B65H3/322 Primary

  for separating a part of the pile, i.e. several articles at once · CPC title

• B65H3/54 Primary

  Pressing or holding devices · CPC title

• B41F21/00

  Devices for conveying sheets through printing apparatus or machines (through platen presses B41F1/28) · CPC title

• B65H33/00

  Forming counted batches in delivery pile or stream of articles · CPC title

• B25J9/0087

  Dual arms (double SCARA arms B25J9/043) · CPC title