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EP2841368B1 - Dispositif de préhension permettant de saisir des feuilles - Google Patents

Dispositif de préhension permettant de saisir des feuilles Download PDF

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Publication number
EP2841368B1
EP2841368B1 EP13718129.3A EP13718129A EP2841368B1 EP 2841368 B1 EP2841368 B1 EP 2841368B1 EP 13718129 A EP13718129 A EP 13718129A EP 2841368 B1 EP2841368 B1 EP 2841368B1
Authority
EP
European Patent Office
Prior art keywords
gripping
sheet
stack
fingers
material stack
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP13718129.3A
Other languages
German (de)
English (en)
Other versions
EP2841368A1 (fr
Inventor
Markus Sperl
Erwin Demmeler
Frank Werner
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Giesecke and Devrient Currency Technology GmbH
Original Assignee
Giesecke and Devrient Currency Technology GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Giesecke and Devrient Currency Technology GmbH filed Critical Giesecke and Devrient Currency Technology GmbH
Publication of EP2841368A1 publication Critical patent/EP2841368A1/fr
Application granted granted Critical
Publication of EP2841368B1 publication Critical patent/EP2841368B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H31/00—Pile receivers
    • B65H31/30—Arrangements for removing completed piles
    • B65H31/3036—Arrangements for removing completed piles by gripping the pile
    • B65H31/3045—Arrangements for removing completed piles by gripping the pile on the outermost articles of the pile for clamping the pile
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H31/00—Pile receivers
    • B65H31/30—Arrangements for removing completed piles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2403/00—Power transmission; Driving means
    • B65H2403/20—Belt drives
    • B65H2403/21—Timing belts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2405/00—Parts for holding the handled material
    • B65H2405/50—Gripping means
    • B65H2405/58—Means for achieving gripping/releasing operation
    • B65H2405/581—Means for achieving gripping/releasing operation moving only one of the gripping parts towards the other
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2405/00—Parts for holding the handled material
    • B65H2405/50—Gripping means
    • B65H2405/58—Means for achieving gripping/releasing operation
    • B65H2405/5812—Means for achieving gripping/releasing operation pivoting the movable gripping part towards the other part
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2513/00—Dynamic entities; Timing aspects
    • B65H2513/50—Timing
    • B65H2513/512—Starting; Stopping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2515/00—Physical entities not provided for in groups B65H2511/00 or B65H2513/00
    • B65H2515/30—Forces; Stresses
    • B65H2515/31—Tensile forces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/10—Handled articles or webs
    • B65H2701/11—Dimensional aspect of article or web
    • B65H2701/113—Size
    • B65H2701/1131—Size of sheets
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/10—Handled articles or webs
    • B65H2701/19—Specific article or web
    • B65H2701/1912—Banknotes, bills and cheques or the like

Definitions

  • the present invention relates to a gripping device and a method for gripping sheet material, in particular a stack of sheets, as well as a device having the gripping device.
  • stationary transport means In order to transport a stack of sheet material from a home position to a target position, stationary transport means are known which convey the entire stack from a home position to a destination position. Alternatively, it is also known to subtract at the starting position, the individual sheets one after the other from the stack of sheets and convey to the target position and there, if necessary, to re-stack. Since such devices are laborious and inflexible with respect to a variable starting and ending position, in some applications the respective sheet stack is manually transported by a person. Instead of manual transporting, however, it is also known to use a gripper which can grasp the sheet material stack and transport it to the destination position. The gripper compresses the stack of sheet material at its top and bottom sides in order to achieve gripping clamping of the sheet material stack. In particular, such grippers can be used to remove a stack of sheets from a container and deposit the removed stack of sheets at a desired destination position again.
  • containers For the processing of value documents, for example, containers are used which can be opened on one side or are permanently open, and into which one or more value document stacks can be inserted from loose value documents.
  • the container In order to remove the value documents, the container is usually arranged so that its open side points upward and the value documents in the container stand on their longitudinal edges.
  • the container can be provided with dividing elements which subdivide the container into a plurality of partial regions, cf. FIG. 1a .
  • Both the inner wall of the container and the separating elements usually have a meandering surface of a plurality of projections and recesses on their sides facing the value document surfaces.
  • a gripper with several gripper fingers can be inserted, which dive into the recesses of the meander-shaped surface from above.
  • the recesses of the container and the gripper fingers of the gripper are adapted to each other in their arrangement and size.
  • the gripper has, for example, two rake-like gripping elements of a plurality of gripper fingers, which can be moved toward and away from each other to grip the document of value as soon as the gripping fingers are immersed vertically in the recesses of the container. With the help of the gripper so the desired document of value stack can be grasped, taken from the container and stored away from the container or inserted into a device for value document processing.
  • a trouble-free removal of a stack of sheets from the container succeeds in this way, however, only in those sheet stacks in which the number of sheets is not too large. Because large stacks are prone to fall out of the Greifklemmung the gripper when removing the stack due to their larger mass and unfavorable geometry. In addition, it is particularly difficult to safely remove mixed stacks of sheet material of various sizes, as this leads to uneven mechanical properties of the sheet material stack. Another difficulty arises from the fact that the force exerted by the gripper on the stack surface In order to hold the stack against gravity and against acceleration forces, it must depend on the friction between the gripper and the sheet located on the stack surface and on the friction between the sheets of the stack, and these frictional forces will vary depending on the nature and condition of the sheets. So far, therefore, a secure and trouble-free removal of sheet stacks is therefore possible only for certain types of sheet stacks.
  • the object of the present invention is to provide an improved solution for removing a sheet stack located in a container by means of a gripper from the container and hold by gripping clamping against gravity.
  • the force required for gripping must be chosen so large that the gripping fingers can be elastically bent by the counterforce of the stack. Due to the bending of the gripper fingers outwards, the gripping force acts above all only on the edge of the sheet material, so that the sheet material stack can fall out of the gripping clamp.
  • the gripping device has at least two gripping elements for gripping a sheet material stack arranged between the gripping elements.
  • the gripping elements can be moved toward each other by means of a drive, in order to grasp the sheet material stack and to move away from one another in order to release the sheet material stack.
  • one of the gripping elements may be designed to be movable and the other fixed or both may be designed to be movable.
  • the gripper engages the stack by compressing the stack at both ends of the stack toward the stack.
  • the gripping device preferably has a stop mechanism for shutting off the drive, which drives the relative movement of the gripping elements, and thus for automatically stopping the relative movement of the gripping elements as soon as a counterforce of the sheet material stack generated in the Greifklemmung exceeds a certain value. This ensures that a predefined gripping force of the gripping device acts on the sheet material stack, which is sufficient to grasp the stack safely, but not to damage.
  • the gripping elements each have at least one gripping finger. The gripping fingers can be applied to the stack end sheet of the sheet material stack to be gripped, which is located at the respective gripping element facing the end of the stack of sheets.
  • At least one of the gripping fingers of one of the gripper elements is tilted from its initial position, in which it is oriented substantially parallel to the surface of the stack end sheet facing it, into a tilted position, in which it is inclined towards the surface of the stack end sheet facing it.
  • all gripping fingers of at least one of the gripping elements are designed to be tiltable.
  • the second gripping element may also have tiltable gripping fingers.
  • the tiltable gripping finger In the starting position, in which the tiltable gripping finger is not tilted, it can dip vertically into the recesses of a meander-shaped surface of the side wall of a container. This is advantageous over permanently tilted gripper fingers, since these, if they should dive into such recesses, would require more space due to the tilted position, which would be at the expense of recordable in the container Blattgutmenge.
  • the tilting of the gripper finger displaces the point at which the gripping force of the gripper finger acts on the stack of sheets largely on a gripping point, which is no longer at the edge, but in particular in the middle region of the sheet material stack.
  • the tilting of the gripper finger counteracts a decreasing gripping clamping, which results from the elastic bending of the gripping finger.
  • This allows a secure gripping and transporting very large stacks of sheets and mixed stacks of different sized sheets.
  • the gripping device can be used very flexibly, which concerns the sheet material stack to be gripped. Because with the same gripping device, without making a change in the gripping device, both a very large stack of sheets and a stack of very few individual sheets or even a single sheet can be safely removed from a container.
  • each gripping element in each case has at least two gripping fingers which run parallel to one another and are arranged at a distance from one another.
  • the gripping elements are in particular positioned to each other so that the gripping fingers of the gripping elements are arranged offset from one another, ie the gripping fingers of one of the gripping elements each coincide with the gaps that lie between the gripping fingers of the other gripping element.
  • the one or more tiltable gripping fingers of the gripping element are tilted so that they exercise in their tilted position a Greifklemmung on the stack, which is sufficient to hold the stack of sheet against its gravity, and in particular against the acceleration forces required to transport the sheet material stack. The tilting causes the stack of sheets to be held solely by the gripping clamp, without the sheet stack of its underside being supported against gravity, ie without the stack resting on a support.
  • the gripping device is movable in space and therefore adapted for transporting a stack of sheets from a home position to a target position.
  • the gripping device may for this purpose be e.g. be attached to the articulated arm of a Gelenkarmroboters to allow three-dimensional movements of the gripping device in space (translational and rotational movements).
  • the gripping device can be used to remove a sheet material stack from a container and to deposit the removed sheet material stack at a desired target position again.
  • the respective tiltable gripping finger is tiltable about an axis which is oriented approximately parallel to the surface of the gripping finger-fed stack end sheet and which encloses a non-zero angle with the direction of the gripper finger which is for example 90 ° or approximately at 90 °.
  • the gripping finger is tiltable in such a way that, in its tilted position, it is inclined along the direction perpendicular to the surface of the stack end sheet facing it (also referred to below as "stack surface").
  • the outer end of the tiltable gripper finger which faces away from the attachment of the tiltable gripper finger on the gripping element, is tilted towards the stack surface.
  • the outer end of the tiltable gripping finger In the tilted position, the outer end of the tiltable gripping finger is displaced perpendicular to the stacking surface relative to those portions of the tiltable gripping finger that are closer to the attachment of the tiltable gripping finger to the gripping member than the outer end.
  • the outer end of the tiltable gripper finger and the portions of the tiltable gripper finger closer to the attachment of the tiltable gripper finger to the gripper member have the same position along the direction perpendicular to the stack surface.
  • the gripper finger In its initial position, the gripper finger can be placed on the stack end sheet in particular such that the gripper finger flatly contacts the stack end sheet over at least a quarter of the length of the stack end sheet, preferably at least over half the length, with the length of the stack end sheet being viewed in the direction, in which the gripping finger points.
  • the gripping finger assumes a sharp tilt angle in its tilted position. This acute tilt angle is in particular 1 ° -20 °, for example 2 ° -5 °.
  • tilting the tiltable gripping fingers By tilting the tiltable gripping fingers is achieved that the gripping force exerted by the tiltable gripper finger in its tilted position on the sheet stack, is exerted mainly by the outer end of the tiltable gripper finger on the sheet stack, the attachment of the tiltable gripper finger on the Facing away gripping element. In the tilted position, the outer end of the tiltable gripping finger exerts the gripping force on the sheet material stack at a gripping point on the stack end sheet, which is not in the edge region, but in the middle region of the sheet material stack.
  • the center region of the sheet material stack is that region which, viewed along the direction of the gripper finger, removes at least 30% of the width of the sheet material stack from both edges of the stack of sheet material the sheet stack has in the direction of the gripper finger.
  • the gripping point lies along this direction approximately in the middle of the sheet material stack.
  • the gripping point at which the gripper finger in its tilted position essentially holds the sheet material stack is, for example, a point of contact, wherein due to the elasticity of the sheet material stack, but also in the tilted position, a flat contact of the stack end sheet by the gripper finger is possible.
  • the advantage of gripping clamping in the center region is that neither the gravity nor the inertia of the stack (when the stack moves in space) can impart torque to the stack when transporting the stack of sheets through the gripper, regardless of direction, such as the stack is held. It is particularly advantageous if at least one of the gripping elements has at least two of the abovementioned tiltable gripping fingers, which are arranged on both sides of the center of the sheet material stack, in particular which are arranged approximately symmetrically to the middle of the sheet material stack. In each case, the outer end of the tiltable gripper finger exerts in its tilted position a gripping force on the stack of sheets at a gripping point in the middle region of the sheet material stack.
  • the two gripping points are arranged on both sides of the middle of the sheet material stack, they are preferably symmetrical to the center of the sheet material stack.
  • the gripping points of the gripper fingers are preferably selected symmetrically to the center of the smallest sheet of the sheet stack.
  • at least the gripping fingers of one of the gripper elements are designed to carry out a compensation movement, which allows an adaptation of the position of the gripper fingers to uneven stacked sheets. This may be the same gripping element, which also has the / the tiltable gripping fingers and / or the other gripping element that does not tilt Greiffinger has.
  • the gripping fingers are attached to the gripping element in such a way that, relative to the gripping element, they can be moved into mutually different positions along the direction perpendicular to the stacking surface of the sheet material stack.
  • the gripping fingers designed for compensating movement are fastened to the gripping element in such a way that they can be deflected relative to the gripping element along the direction perpendicular to the stacking surface against a spring force.
  • the fact that the two gripping fingers are movable perpendicular to the stack surface in different positions, the position of each of the gripper fingers automatically adapts to a locally different large opposing force of the gripped sheet stack, which is different sizes at different locations along the stack surface.
  • This compensating movement of the gripper fingers is independent of the above tilting movement for tilting the gripper fingers.
  • the mobility of the gripping fingers in different positions perpendicular to the banknote stack causes the position of the respective gripper finger, which, at the time of Greifklemmung the stack occupies relative to the gripping element, depending on the local stack height and / or in dependence of the local mechanical properties of the Stack is variable.
  • This compensating movement of the gripper fingers is avoided that the gripping force distributed very differently to the gripper fingers. Without the compensating movement, the gripper finger, which engages in the area of greater stack height, would eliminate a very large portion of the gripping force, while the gripper finger, which grips in the area of lower stack height, would eliminate a low gripping force.
  • the compensating movement of the gripping fingers ensures that the gripping force of the gripper fingers exerted for gripping clamping is matched to one another when a banknote stack with locally different stacking height and / or locally different mechanical properties is gripped. For example, the two gripping fingers exert approximately the same force on the stack. This also uneven sheets stacks can be used safely.
  • the two gripping fingers of the gripping element are formed by a fork, which is rotatable about an axis to enable the compensating movement, which is oriented approximately parallel to the gripper fingers and in particular lies approximately on the mid-perpendicular between the two gripping fingers.
  • the gripper fingers move in opposite directions.
  • one of the gripping fingers is deflected away from the stacking surface, the other gripping finger is automatically deflected counter to the stacking surface.
  • the rotational movement about the axis of the fork of the gripper finger counteracts a spring force.
  • the gripping device comprises a belt which is mechanically coupled to one of the gripping elements to move the gripping element by the belt movement relative to the other gripping element of the gripping device and to grasp a stack of sheets arranged between the two gripping elements by a gripping clamp.
  • the gripping element is mechanically designed such that the drive of the belt movement also provides the force for tilting the tiltable gripper finger. The tilting is triggered by the opposing force of the compressed sheet stack. For tilting the gripper finger therefore advantageously no further drive or actuator is needed.
  • the relative movement The gripping elements can also be achieved without the aid of belts.
  • the belt tension is monitored by a sensor designed to stop belt drive when exceeding a certain belt tension.
  • the sensor for mechanical monitoring of the belt tension is preferably arranged in that section along the belt in which, in the case of gripping clamping of the stack of sheets, during further movement of the gripping element, an increased belt tension is produced by the counterforce of the stack of sheets.
  • the sensor has a roller which is pressed against the belt for monitoring the belt tension (for example by spring force) and which, in the case of gripping clamping of the stack of sheets, is deflected by the belt tension being increased during the further movement of the gripping element.
  • the deflection of the roll is e.g. monitored by a proximity sensor that monitors the position of the roller. If a certain deflection of the roller is exceeded, the sensor shuts off the motor of the belt movement.
  • the gripping device is set up in particular for removing a sheet material stack from a container which has side walls with a meander-shaped surface.
  • the sidewall having the meandering surface may be formed by a separator received in the container or by the inner wall of the container itself.
  • the gripping device preferably has two gripper elements each comprising at least two gripper fingers, which are designed to immerse in recesses of the meander-shaped surface of a side wall of the container in which the sheet material stack is contained. If the container is arranged so that its has open side up and the sheet material in the container is on its edges, the gripper can grab the sheet stack and lift out of the container against gravity.
  • the side wall of the container which has the meandering surface, in some containers has a projection-free portion, i. a section in which no projection of the meandering side wall is present.
  • the stack end sheet facing this side wall of a sheet material stack contained in the container can bulge out in this projection-free section towards the side wall.
  • At least one of the gripping fingers which is provided when gripping the sheet material stack for immersion in this projection-free portion of the side wall, beveled at its outer end so that it can dive between the stacked towards the side wall Stapelendblatt and the projection-free section ,
  • the outer end of this gripper finger which is located on the side remote from the attachment of the gripper finger side of the gripper finger, is chamfered such that the thickness of the gripper finger decreases along the direction of the projection-free portion facing direction.
  • the invention also includes a device for processing sheet material, in particular value documents, which has a gripping device according to the invention.
  • the device may be a value-document processing device which has an input pocket for the value documents, a transport system for transporting the value documents, sensors for checking the value documents and one or more output pockets for the value documents.
  • the device can also essentially only the Be ready gripping device and be adapted to be attached to such a value-document processing device, or be provided for use with such a value-document processing device.
  • the gripping device of the device can be set up to load the gripped value-document stack into the input tray of the value-document processing device and / or to remove the gripped sheet-material stack from an output tray of the value-document processing device.
  • the invention also relates to a method for gripping a sheet material stack by means of the gripping device.
  • At least one of the gripping fingers is thereby tilted from its initial position to its tilted position.
  • the tilting of the gripper finger can be carried out before the start of the relative movement or during the relative movement.
  • the relative movement of the gripping elements is automatically stopped as soon as a gripping clamping is achieved, in particular as soon as a counterforce of the sheet material stack generated during gripping clamping exceeds a predetermined value.
  • the relative movement of the gripping elements is preferably stopped after stopping the relative movement a certain waiting time and after this waiting time a Nachconce the sheet material stack is performed, in which the relative movement of the gripping elements is started to each other again, even in the case of relaxation of the sheet stack a secure Greifklemmung of Produce sheet stack.
  • the restarted relative movement of the gripping elements is in turn automatically stopped, in particular as soon as the opposing force of the sheet material stack generated during the renewed Greifklemmung again exceeds the predetermined value.
  • the method for removing a sheet material stack from a container by means of the gripping device is advantageous.
  • the tilting of the gripper fingers then takes place e.g. after the gripping fingers were immersed in the recesses of a meandering side wall.
  • the step of transporting the sheet material stack gripped by the gripping clamp by means of the gripping device in this case comprises that the gripping clamp removes the gripped sheet material stack from the container.
  • the gripping device performs the catching while it transports the stack of sheets, in particular after the gripping device has removed the sheet stack from the container.
  • By picking up the desired gripping force is adjusted again, e.g. about the same value as the first Greifklemmung.
  • the relaxation of the sheet stacks can be accomplished by inelastic deformation of the stack of sheets by squeezing when gripping, e.g. slight positional shifts between the leaves of the sheet material.
  • the waiting time is chosen so that the sheet material stack has sufficient time after reaching the Greifklemmung to relax under the influence of gripping force, gravity and possibly its inertial force. For example, the waiting time between the automatic stopping of the relative movement and the Nachgro is a few tenths of seconds.
  • the invention will be described below with reference to banknotes as an example of the value documents.
  • the invention is not limited thereto, but sheet material in general suitable, in particular for any Types of value documents.
  • the invention enables, for example, the automatic processing of large quantities of banknotes, wherein the banknotes are prepared in advance for processing and filled into the containers.
  • the removal of the banknotes from the container and the insertion of the banknotes taken out of the container into the input compartment of a banknote processing device by means of the gripping device as well as the processing of the banknotes in the device can then take place completely automatically, without manual manipulations of an operator.
  • FIG. 1a shows a partially filled with banknotes container 100 together with a per se known gripper 9.
  • the container 100 is formed by a on a five-sided closed housing having a plurality of divisions, which can accommodate separators 101 interchangeable.
  • Banknote stacks 1 can be entered between the meander-shaped separating elements 101.
  • the banknotes are entered in such a way that they stand on their longitudinal edges in the container 100. This allows a safe and ergonomically favorable filling of the container.
  • the gripper 9 is lowered into the container 1, with its gripping elements immersed in the recesses of the separating elements 101. After lowering, the two gripping elements of the gripper 9 are moved towards each other to grab a stack of notes 1 and lift out of the container.
  • FIG. 1b a container 100 for receiving bank notes standing on its longitudinal edges is shown (the banknote stack 1 is shown in FIG. 1b Not shown).
  • a gripping device 10 with two gripping elements 21, 41 is used, which can be moved towards and away from each other.
  • the gripping elements 21, 41 are part of the gripping device 10, which are based on the FIGS. 2a-d is described in detail, and of the in FIG. 1b only the two gripping elements 21, 41 are shown.
  • At least one of the gripping elements extends substantially over the entire inside width of the container 100 in order to be able to securely grasp and later deposit banknote stacks 1.
  • the gripping device 10 can have sensors for positioning the gripping elements 21, 41 whose signals are from a control device are evaluated to control the movement of the gripping device 10.
  • the lateral position of the gripping element 21 in FIG. 1b is eg right of the center of the container and chosen so that the two gripping points are arranged on both sides and symmetrically to the center of the smallest possible banknote format, provided that the banknotes are aligned on the right side wall of the container 100. If the banknotes are always aligned on the right side wall, these gripping points are in the same position with respect to the smallest possible banknote format for each banknote stack.
  • the separating elements 101 are provided on both sides with a meander-shaped surface so that the gripping elements 21, 41 can dive defined between banknotes located in the container 100 in order to grip a stack of banknotes and remove them from the container 100.
  • the arrangement and extent of the gripping fingers of the gripping elements 21, 41 are adapted to the meandering shape of the separating elements 101, so that they can dive into the recesses of the meandering surface.
  • the front and rear inner walls of the container also have a meander-shaped surface with projections and recesses, which likewise makes it possible to immerse the gripping fingers of the gripping elements.
  • the banknote stack 1 removed from the container 100 by the gripping device 10 is then fed to a processing, for example by means of a banknote processing device.
  • the gripping device 10 places the banknote stack in an input compartment of the banknote processing device one from which the banknotes are individually transported away by means of a singler.
  • the gripping device 10 is arranged in the region of the input compartment of the banknote processing device in order to be able to place the banknotes removed from the container 100 into an input compartment.
  • a suitable receiving device for one or more containers 100 may be provided within reach of the gripping device 10.
  • the banknotes are processed in the banknote processing device, stored in bins of the banknote processing device and billed.
  • FIG. 2a shows a gripping device 10 with the two gripping elements 21 and 41.
  • the movable gripping element 21 is moved toward the stationary gripping element 41.
  • the gripping element 21 of the gripping device 10 has a carriage 24 which is mechanically coupled to a belt 32 of the gripping device 10. By the movement of the belt 32, the gripping member 21 can be linearly moved toward and away from the gripping member 41.
  • the belt 32 is moved by a motor 30 which drives the drive roller 31 of the belt.
  • the fixed gripping element 41 has a plurality of gripping fingers 42 which are distributed over the entire length of the banknote stack.
  • the fixed gripping element may alternatively have less gripping fingers.
  • the movable gripping element 21 has only two gripping fingers 22 in this example.
  • the movable gripping member 21 may have a plurality of gripper fingers 22 which are distributed over the entire length of the banknote stack.
  • the gripper 10 is shown at different times when the gripping member 21 is moved toward the other gripping member 41 continuously or stepwise to grip the stack of notes 1.
  • the gripping element 21 is moved towards the Stapelendblatt 2 of the banknote stack 1, but this does not affect.
  • FIG. 2b the time of contact between the gripping element 21 and stack end sheet 2 is shown.
  • Figure 2c shows a time at which the banknote stack 1 is already pressed by the gripping member 21 against the gripping member 41, but the gripping fingers 22 are still in their un-tilted initial position A.
  • Figure 2d shows the gripping device after the gripping fingers 22 have been tilted into its tilted position K and the banknote stack 1 is gripped.
  • the gripping fingers 22 of the gripping element 21 are tiltable towards the banknote stack 1 by a mechanical tilting mechanism which the gripper element 21 has.
  • the function of the tilt mechanism is based on a comparison of Figures 2c and 2d clear.
  • Figure 2c in which the gripping fingers 22 are in their untilted starting position A, the carriage 24 of the gripping element 21 is moved further to the left by means of the belt 32.
  • a counter force is exerted on the gripping fingers 22 by the banknote stack 1, which prevents the gripping fingers 22 and the associated lower part 23 of the gripping element 21 from following the left movement of the carriage 24.
  • the movable gripping member 21 is moved in a raised position of the gripping device 10 to the fixed gripping member 41 ( Fig. 2a, Fig. 2b ), ie before the gripping elements are lowered into the container 100. Only after the position of the two gripping elements 21, 41 is correct to immerse in the recesses of the respective meander-shaped surface, the gripping device 10 is lowered into the container 100. This reduction takes place between the times of FIGS. 2b and 2c instead of.
  • the movable gripping member 21 is further moved to the gripping member 41 to compress the stack of notes 1 ( Fig. 2c ) and the gripper fingers 22 to tilt ( Fig. 2d ).
  • the banknote stack 1 is gripped and can then be safely lifted out of the container 100.
  • the gripping device 10 has, for example, a mechanically controlled stopping mechanism for automatically stopping the movement of the gripping element 21 as soon as a counterforce of the sheet material stack 1 generated during gripping clamping exceeds a certain value.
  • the belt tension of the belt 32 is monitored by a sensor.
  • the sensor for monitoring the belt tension is arranged in the portion along the belt 32, in which an increased belt tension is generated in the case of Greifklemmung the sheet stack, further advancing the gripping member 21 by the opposing force of the sheet material stack 1. In the FIGS. 2a-d this is the portion of the belt 32 that lies along the direction of movement of the belt between the carriage 24 of the gripping device 21 and the drive roller 31.
  • the sensor has a roller 34, which is pressed against the belt by a spring for monitoring the belt tension.
  • the belt tension increases in the area of the roller 34 by acting on advancing the gripping member 21 counterforce of the sheet stack 1 and by the driving force of the drive roller 31. Due to the increased belt tension, the roller 34 by the belt 32 against the Spring force deflected (compared to Figure 2c is the role 34 in Figure 2d deflected slightly upwards).
  • the deflection of the roller 34 is monitored, for example by a proximity sensor 33, which monitors the position of the role, for example, inductive or capacitive.
  • the proximity sensor 33 turns off the motor 30 used for driving the belt, so that the movement of the gripping member 21 is automatically stopped.
  • the motor 30 is preferably a motor with self-locking gear, so that the Greifklemmung the banknote stack 1 is maintained even when the engine 30.
  • the roller 34 As soon as the belt tension is normal again, pressed by the deflection of the counteracting spring force against the belt 32 again.
  • foil elements of the banknotes for example security elements which are applied to the banknotes, can lead to an uneven stack height and / or to uneven mechanical properties of the banknote stack 1.
  • banknote stacks with an oblique or wavy surface or, depending on the position along the stacking surface have a different elasticity and therefore provide a locally different opposing force, cf.
  • FIGS. 3a-b
  • At least one of the gripping elements (the same which also has tiltable gripping fingers and / or the other gripping element) is designed to carry out a compensation movement which allows an adaptation of the gripping element to uneven stacked sheets.
  • the two gripping fingers 22 of the gripping element 21 are arranged on both sides of the center M of the banknote stack 1, cf. Fig. 2c ,
  • the gripping fingers 22 are so on the lower part 23 of the gripping member 21 attached, that they, relative to the lower part 23, along the direction perpendicular to the stacking surface of the sheet material stack 1, are movable into different positions.
  • This compensating movement of the gripper fingers is independent of the in the Figures 2c-d shown tilting movement for tilting the gripper fingers.
  • the gripping fingers 22 are formed by a fork.
  • This fork is rotatably mounted on an axis 27 which is oriented approximately parallel to the gripper fingers 22 and which lies approximately on the mid-perpendicular between the two gripping fingers, cf.
  • FIGS. 3a-b The two gripping fingers 22 are therefore deflectable in different positions perpendicular to the stack surface. When grasping a stack having a nonuniform height or uneven mechanical properties, the gripper fingers therefore move in opposite directions. The rotation of the gripping fingers 22 about the axis 27 counteracts the spring force of the spring 26.
  • the gripping device 10 grips a stack of sheets 1 whose left side has a greater elasticity than its right side, so that the gripping fingers 22 are automatically rotated about the axis 27 in a counterclockwise direction when the stack is compressed.
  • FIG. 3b grips the gripping device 10 another sheet stack 1, the right side has a greater elasticity than the left side, so that the gripping fingers 22 are rotated slightly clockwise about the axis 27.
  • FIGS. 4a-b the gripping element 41 is shown immersed in the recesses of the meandering surface of a separating element 101 contained in a banknote container 100.
  • the separating element 101 has a projection-free section 102, on which the meandering shape is interrupted, and which has a recessed grip having.
  • a banknote BN for example the stack end sheet 2 of a banknote stack 1 received in the container, can bulge out into this projection-free section 102, cf.
  • FIGS. 5a-b an improved embodiment of the gripper fingers is shown.
  • the two gripping fingers 42 which are provided for gripping the sheet material stack for immersion in the projection-free portion 102, are chamfered at their outer ends.
  • the chamfer is such that the thickness of the gripper finger, which it has perpendicular to the direction of the gripper finger, decreases along the direction of the center of the projection-free portion 102 direction.
  • these gripping fingers can easily dip between the outwardly arched banknote BN and the projection-free section 102, cf. FIG. 5b ,
  • this banknote or the stack is securely gripped without damaging banknotes.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Sheets, Magazines, And Separation Thereof (AREA)
  • Manipulator (AREA)
  • Pile Receivers (AREA)

Claims (15)

  1. Dispositif de préhension destiné à la saisie et au transport d'une pile de produit en feuilles, lequel comporte au moins deux éléments de préhension (21, 41) qui sont destinés à la saisie d'une pile de produit en feuilles (1) placée entre les éléments de préhension et qui sont déplaçables l'un vers l'autre afin de saisir la pile de produit en feuilles (1) par un coincement de préhension, cependant que les éléments de préhension (21, 41) comportent respectivement au moins un doigt de préhension (22, 42) qui peut être disposé de telle façon à une feuille d'extrémité de la pile se trouvant à l'extrémité de la pile de produit en feuilles, tournée vers l'élément de préhension (21, 41) respectif, que le doigt de préhension (22, 42) entre en contact face contre face avec la feuille respective d'extrémité de la pile, cependant qu'au moins un des doigts de préhension (22) d'au moins un des éléments de préhension (21) peut être basculé d'une position initiale (A), dans laquelle le doigt de préhension (22) est orienté essentiellement parallèlement à la surface de la feuille d'extrémité de la pile (2) tournée vers lui, à une position basculée (K), dans laquelle le doigt de préhension (22) est incliné vers la surface de la feuille d'extrémité de la pile (2) pile tournée vers lui, caractérisé en ce qu'au moins les doigts de préhension (22, 42) d'un des éléments de préhension (21, 41) sont conçus pour un mouvement compensatoire qui permet une adaptation de la position des doigts de préhension (22) à des piles irrégulières de produit en feuilles, cependant que les doigts de préhension (22, 42) sont fixés de telle manière à l'élément de préhension (21, 41) qu'ils sont, relativement à l'élément de préhension, déplaçables le long de la direction perpendiculaire à la surface de la pile de la pile de produit en feuilles (1), dans des positions différentes les unes des autres.
  2. Dispositif de préhension selon la revendication 1, caractérisé en ce que le doigt de préhension (22) basculable peut être basculé de telle façon que l'extrémité extérieure du doigt de préhension basculable tournée à l'opposé de la fixation du doigt de préhension basculable à l'élément de préhension (21) est, par le basculement, inclinée vers la surface de la feuille d'extrémité de la pile (2) tournée vers le doigt de préhension (22) basculable.
  3. Dispositif de préhension selon une des revendications précédentes, caractérisé en ce que le doigt de préhension basculable peut être basculé autour d'un axe (28) qui est orienté sensiblement parallèlement à la surface de la feuille d'extrémité de la pile (2) tournée vers le doigt de préhension et qui délimite un angle non nul avec la direction du doigt de préhension (22).
  4. Dispositif de préhension selon une des revendications précédentes, caractérisé en ce que le basculement du doigt de préhension (22) déplace vers un emplacement de préhension situé dans la zone centrale de la pile de produit en feuilles (1) le point d'attaque de la force de préhension du doigt de préhension basculable.
  5. Dispositif de préhension selon une des revendications précédentes, caractérisé en ce que, quand le ou les doigts de préhension (22) sont dans la position basculée (K), les éléments de préhension (21, 41) exercent un coincement de préhension sur la pile de produit en feuilles (1), lequel suffit pour maintenir, par le coincement de préhension, la pile de produit en feuilles contre sa pesanteur.
  6. Dispositif de préhension selon une des revendications précédentes, caractérisé en ce que l'élément de préhension (21) qui comporte le doigt de préhension (22) basculable est couplé mécaniquement à une courroie (32) afin de mouvoir l'élément de préhension (21) par le mouvement de courroie relativement à l'autre élément de préhension (41) du dispositif de préhension, et afin de saisir, par un coincement de préhension, la pile de produit en feuilles (1) placée entre les deux éléments de préhension (21, 41), cependant que l'élément de préhension (21) est mécaniquement réalisé de telle façon que l'entraînement du mouvement de courroie fournit aussi la force pour le basculement du doigt de préhension basculable.
  7. Dispositif de préhension selon une des revendications précédentes, caractérisé en ce que les doigts de préhension conçus pour le mouvement compensatoire sont fixés de telle manière à l'élément de préhension qu'ils peuvent être déviés relativement à l'élément de préhension le long de la direction perpendiculaire à la surface de la pile contre une force de ressort.
  8. Dispositif de préhension selon une des revendications précédentes, caractérisé en ce que l'élément de préhension comporte deux doigts de préhension (22) constitués par une fourche qui, pour le mouvement compensatoire, peut tourner autour d'un axe (27) qui est orienté sensiblement parallèlement aux doigts de préhension (22) et qui, de préférence, se trouve sensiblement sur la médiatrice entre les deux doigts de préhension (22).
  9. Dispositif de préhension selon une des revendications précédentes, caractérisé en ce que le dispositif de préhension comporte un mécanisme d'arrêt qui est destiné à l'arrêt du mouvement relatif des éléments de préhension (21, 41) et dans lequel l'entraînement (30) du mouvement relatif est automatiquement désactivé dès qu'une force antagoniste de la pile de produit en feuilles (1), générée lors du coincement de préhension, dépasse une certaine valeur.
  10. Dispositif de préhension selon la revendication 9, caractérisé en ce que le dispositif de préhension comporte une courroie (32) couplée mécaniquement à un des éléments de préhension (21) afin de mouvoir cet élément de préhension par le mouvement de courroie relativement à l'autre élément de préhension (41) du dispositif de préhension, et afin de saisir, par un coincement de préhension, la pile de produit en feuilles (1) placée entre les deux éléments de préhension, cependant que le mécanisme d'arrêt comprend que la tension de la courroie est surveillée par un capteur (33) configuré pour, en cas de dépassement d'une certaine tension de la courroie, stopper l'entraînement du mouvement de courroie.
  11. Dispositif de préhension selon une des revendications précédentes, caractérisé en ce que le dispositif de préhension est équipé pour prélever une pile de produit en feuilles d'un réservoir ayant au moins une paroi latérale présentant une surface en forme de méandres, et en ce que le dispositif de préhension comporte deux éléments de préhension (21, 41) ayant respectivement au moins deux doigts de préhension (22, 42) conçus pour s'enfoncer dans des interstices de la surface en forme de méandres de la paroi latérale du réservoir.
  12. Dispositif de préhension selon la revendication 11, caractérisé en ce que la paroi latérale du réservoir qui présente une surface en forme de méandres comporte un segment (102) sans saillie, de telle sorte que la feuille d'extrémité de pile d'une pile de produit en feuilles contenue dans le réservoir peut, dans ce segment (102) sans saillie, se bomber vers la paroi latérale, et en ce qu'au moins un des doigts de préhension prévu pour, lors de la saisie de la pile de produit en feuilles, s'enfoncer dans ce segment sans saillie de la paroi latérale, est biseauté de telle façon à son extrémité extérieure qu'il peut s'enfoncer entre la feuille d'extrémité de la pile (2) bombée vers la paroi latérale et le segment (102) sans saillie.
  13. Equipement de traitement de produit en feuilles, en particulier de documents de valeur, qui comporte un dispositif de préhension (10) selon une des revendications de 1 à 12, cependant que le dispositif de préhension (10) est équipé pour mettre dans un casier d'alimentation de l'équipement la pile de produit en feuilles (1) saisie, et/ou cependant que le dispositif de préhension est équipé pour prélever hors d'un casier d'alimentation de l'équipement la pile de produit en feuilles saisie.
  14. Procédé de saisie d'une pile de produit en feuilles au moyen d'un dispositif de préhension (10) selon une des revendications précédentes, par exemple pour le prélèvement d'une pile de produit en feuilles depuis un réservoir (100), comprenant les étapes :
    - déplacement relatif des éléments de préhension (21, 41) l'un vers l'autre par un mouvement relatif des éléments de préhension afin de comprimer et de saisir par coincement de préhension une pile de produit en feuilles (1) placée entre les deux éléments de préhension, cependant qu'au moins un des doigts de préhension des éléments de préhension (21, 41) est basculé de sa position initiale (A) à sa position basculée (K), et
    - arrêt automatique du mouvement relatif des éléments de préhension (21, 41) dès qu'un coincement de préhension est atteint, en particulier dès qu'une force antagoniste de la pile de produit en feuilles (1), générée lors du coincement de préhension, dépasse une valeur prédéterminée, et
    - transport, au moyen du dispositif de préhension (10), de la pile de produit en feuilles (1) saisie par le coincement de préhension, cependant que le coincement de préhension prélève par exemple hors du réservoir (100) la pile de produit en feuilles (1) saisie,
    cependant qu'au moins les doigts de préhension (22, 42) d'un des éléments de préhension (21, 41) sont conçus pour un mouvement compensatoire qui permet une adaptation de la position des doigts de préhension (22) à des piles irrégulières de produit en feuilles, cependant que les doigts de préhension (22, 42) sont fixés de telle manière à l'élément de préhension (21, 41) qu'ils sont, relativement à l'élément de préhension, déplaçables le long de la direction perpendiculaire à la surface de la pile de la pile de produit en feuilles (1), dans des positions différentes les unes des autres.
  15. Procédé selon la revendication 14, caractérisé en ce que le mouvement relatif des éléments de préhension (21, 41) reste arrêté pendant un certain temps d'attente après l'arrêt du mouvement relatif, et en ce que, après le temps d'attente, une saisie subséquente de la pile de produit en feuilles (1) est effectuée, lors de laquelle le mouvement relatif des éléments de préhension (21, 41) l'un vers l'autre est à nouveau lancé afin d'accomplir un coincement fiable de préhension de la pile de produit en feuilles même dans le cas d'une relaxation de la pile de produit en feuilles (1).
EP13718129.3A 2012-04-25 2013-04-22 Dispositif de préhension permettant de saisir des feuilles Active EP2841368B1 (fr)

Applications Claiming Priority (2)

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DE102012008242A DE102012008242A1 (de) 2012-04-25 2012-04-25 Greifeinrichtung zum Greifen von Blattgut
PCT/EP2013/001203 WO2013159900A1 (fr) 2012-04-25 2013-04-22 Dispositif de préhension permettant de saisir des feuilles

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EP2841368B1 true EP2841368B1 (fr) 2018-02-21

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US (1) US9573787B2 (fr)
EP (1) EP2841368B1 (fr)
KR (1) KR101641012B1 (fr)
CN (2) CN106966216B (fr)
DE (1) DE102012008242A1 (fr)
RU (1) RU2614366C2 (fr)
WO (1) WO2013159900A1 (fr)

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CN106966216A (zh) 2017-07-21
WO2013159900A1 (fr) 2013-10-31
CN104245553A (zh) 2014-12-24
CN104245553B (zh) 2017-02-22
KR20140133595A (ko) 2014-11-19
DE102012008242A1 (de) 2013-10-31
RU2014147074A (ru) 2016-06-20
US20150093230A1 (en) 2015-04-02
KR101641012B1 (ko) 2016-07-19
EP2841368A1 (fr) 2015-03-04
RU2614366C2 (ru) 2017-03-24
US9573787B2 (en) 2017-02-21
CN106966216B (zh) 2018-12-11

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