EP1093899B1 - Process and installation for automatic production of slate out of slate debris - Google Patents

Process and installation for automatic production of slate out of slate debris Download PDF

Info

Publication number
EP1093899B1
EP1093899B1 EP00402869A EP00402869A EP1093899B1 EP 1093899 B1 EP1093899 B1 EP 1093899B1 EP 00402869 A EP00402869 A EP 00402869A EP 00402869 A EP00402869 A EP 00402869A EP 1093899 B1 EP1093899 B1 EP 1093899B1
Authority
EP
European Patent Office
Prior art keywords
slate
piece
fendi
rounding
installation
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.)
Expired - Lifetime
Application number
EP00402869A
Other languages
German (de)
French (fr)
Other versions
EP1093899A1 (en
Inventor
Jacques Jean Vedie
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.)
Sovemine Ingenierie
Original Assignee
Sovemine Ingenierie
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 Sovemine Ingenierie filed Critical Sovemine Ingenierie
Publication of EP1093899A1 publication Critical patent/EP1093899A1/en
Application granted granted Critical
Publication of EP1093899B1 publication Critical patent/EP1093899B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28D—WORKING STONE OR STONE-LIKE MATERIALS
    • B28D1/00—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor
    • B28D1/30—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor to form contours, i.e. curved surfaces, irrespective of the method of working used
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28D—WORKING STONE OR STONE-LIKE MATERIALS
    • B28D1/00—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor
    • B28D1/32—Methods and apparatus specially adapted for working materials which can easily be split, e.g. mica, slate, schist
    • B28D1/327—Methods and apparatus specially adapted for working materials which can easily be split, e.g. mica, slate, schist for cutting or shearing easily splittable working materials

Definitions

  • the present invention relates to a manufacturing method and installation automatic slate from cleavage from small blocks, made up of rejects from traditional manufacturing.
  • shale blocks which are generally unusable in known installations, and constitute releases. It's about small rough blocks weighing 50 to 100 kg of shale slate, recovered from mine and workshop rejects Manufacturing. Their circumference is arbitrary and two faces are parallel to the fissile plane.
  • Sawing blocks consists of sawing one side in a plane perpendicular to the fissile plane to allow their processing in the tierceuse machine.
  • the transport of the blocks, from their preparation, is done usually by a roller conveyor.
  • the present invention aims to develop a process and installation for automatically manufacturing slates from reject blocks, of dimensions too small to be used economically in known installations.
  • the shape analysis device allows you to define for each fendi the form of slate achievable in function the shape of the fendi and the demand for the product.
  • This shape is defined automatically by comparison between the outline of the fendi and a library of predefined shapes stored in memory.
  • the shape thus chosen is associated individually for each fendi.
  • This form of deposit or setpoint contour is associated with the fendi in the different stages of slate manufacturing as well as for control of the manufacturing result.
  • the device rounding allowing to treat all contours, whether be rectilinear or curved, thus allows to realize, piloted through the processing and control circuit, successively virtually any slate shapes without that it is not necessary to classify the slates beforehand in groups and to treat each group separately in different lines (e.g. rectangular slates, rounded slates, etc.).
  • the control of the manufactured slate is also done automatically. This control is simpler than initial form analysis, since the target form what slate should present is already known and it is simply to check the concordance between the real form of the manufactured slate and the deposit form.
  • the treatment circuit can know at any instant position of the slate in space and in particular when this slate is placed on the receiving surface of the control device. This greatly accelerates the processing and simplifies calculations once the form of the slate detected.
  • the automatic slate manufacturing facility supports splitting and provides leaving slates classified according to the shapes produced.
  • the choice of shapes can be limited by the operator by depending on demand requirements (type of slate, quantities).
  • the installation according to the invention can be automated also for the parts upstream of those mentioned above and in particular by the tiering machine.
  • the optical analyzer working by scanning allows a sufficiently precise definition of the contour of the fendi to know its shape in an automatic way. This recognition form is also simplified by the fact that one side of the fendi is spotted.
  • This optical analyzer preferably comprises a transmitter mounted on an oscillating support which controls scanning transverse.
  • Transmitters / receivers of optical analyzers are advantageously protected against dust by blowing filtered air, which scans the outside of the analyzers, especially at the entry and exit lenses, to avoid the deposit of dust.
  • this way of roughing up the fendi then cutting it and rounding it to the final shape avoids multiple passes of the same fendi in a machine or in multiple machines.
  • the optical control analyzer comprises a transmitter emitting a light brush for sweeping the slate and a receiver optical receiving the scan image to provide a signal detection to the processing and control circuit.
  • the first and third means of transfer consist by a robot comprising a column carrying a completed arm by a suction cup whose position and orientation is defined, the action ranges of the two robots do not intersect.
  • the second transfer means is preferably a movable plate in translation.
  • This tray moves between the receiving position and control of the slate at the end of manufacturing and a removal position for the evacuation of the slate or its passage through the punching installation for drilling, if necessary, the nailing holes before removal of slate.
  • An advantageous device based on suction cups allows keep the slate in position during movement.
  • the installation can be completed as an input by a tiercer, automatic, and different block sawing equipment itself preceded by peeling devices.
  • a manufacturing facility automatic slate from fendis includes a input conveyor 1, with motorized rollers in sections again called a conveyor, to transport and store so intermediate of the piles of fendis 12 resulting from a splitting work done upstream manually or semi-automatic or automatic.
  • the input conveyor 1 feeds a device form 2 analysis consisting of a receiving surface or roller table 21 also called a receiving roller a pile of cloves 12.
  • the shape analysis device 2 includes an optical analyzer 22 for detecting the contour fendi 12 on top of the stack placed on the surface reception 21.
  • This optical analyzer 22 is composed a 22E transmitter and a 22R receiver.
  • the 22E transmitter transmits a very fine beam such as a laser beam and the receiver 22R receives the image of each scan of the beam the transmitter 22E to provide an exploited detection signal and then giving the shape of the outline of each fendi and its oriented position with respect to the receiving surface 21.
  • the receiving surface 21 is constituted by a lifting table so that the fendi 12f, from above, submitted to the shape analysis, is always in the same plane horizontal. This positioning is done by the enslavement of table 21 and an infrared rangefinder for example detecting the upper surface of the fendi 12f each time on the above the stack.
  • the 22E transmitter scans the surface of the fendi 12f following a transverse or longitudinal scan, corresponding at a certain resolution (spacing of scanning lines).
  • the 22R receiver equipped with an optical filter in function of the wavelength of the beam light the transmitter receives the image of each scan line. This image is different depending on whether the light beam is found on the surface of the fendi 12f or upstream or downstream of this surface, at the beginning and at the end of each scan trace.
  • Control circuit 3 also controls the installation of a new pile of fendis.
  • These batteries can be regular or irregular since the shape analysis device 2 detects always the top fendi in the plane analysis. This positioning is essential to obtain detection signals S1 representative of an exact shape and not of a homothetic form.
  • the processing circuit 3 defines the contour of the fendi 12f analyzed and compared to forms of slate contained in a slate library. It optimizes the use of fendi by choosing the slate which fits best in the available area of the fendi. This choice is also takes into account the needs of slates to be manufactured.
  • the fendi which has just been analyzed, is not only defined by its outline but also by its position and by its angular orientation as shown by the vector Vi and the point of origin Of.
  • the installation Downstream of the form 2 analysis device, the installation includes a cutting device 4 cutting the shape of the slate and rounding its outline.
  • These measures of rounding 4 comprises an associated cutting member to a nibbler.
  • the cutting member 41 cuts the contour coarse slate in the fendi 12f according to the form of setpoint defined by the processing and control circuit 3 and the nibbler 42 ensures the finishing of the shape and the rounding of the slate blank to give a slate 12g from fendi 12f.
  • a transfer device 5. constituted by a robot carried by a column 51 with an arm 52 and a suction head 53, ensures the transfer of the fendi 12f from the top of the stack of the shape analysis device 2 to the rounding device 4 then from this device to a control device 6 for the 12g slate thus manufactured.
  • the transfer device 5 is connected to the processing circuit and control 3 which controls the transfer device 5 (first transfer means) so that its suction cup head 53 take the fendi in the analysis device 2 at a place and following a defined orientation.
  • the control circuit 3 supplies control signals SC2 to the control device transfer 5 so that it presents the fendi 12f to be cut and to round in the rounding machine 4 and move it to make the outline of the slate according to the outline of setpoint defined by the control and processing circuit 3.
  • the rounding device acts at a fixed point and the fendi is moved relative to this fixed point according to a trajectory specific to each model which is memorized in the system to make the slate having the desired outline.
  • a cutting speed is associated with each element trajectory allowing better quality cutting.
  • the transfer device 5 moves by its arm 52 and head 53 while maintaining at all times information relating to the exact position of the fendi (or slate in progress).
  • control circuit 3 controls the transfer device 5 so that it transfers the 12g slate in the control device 6, in a precise orientation position.
  • the control device 6 comprises a table receipt 61 on which the 12g slate is deposited by the transfer device 5 and an optical analyzer 62 formed by a transmitter 62E and a receiver 62R.
  • the transmitter provides a thin beam such as a laser beam to scan the 12g slate and the 62R receiver receives the images from scan the 12g slate and give an S2 analysis signal transmitted to the processing and control circuit 3. This establishes the actual outline of the 12g slate and compares it to set outline used to make the slate in the rounding device 4. As the rounding may possibly cause local bursting, this type of fault is detected by the control circuit 6.
  • the control device 6 also includes a transfer means 63 which moves the plate 61 from the position control in a removal position 61E, shown with dots. In this position, the slate can be picked up by a third transfer device 7.
  • This transfer device 7 is preferably a robot comprising a column 71 carrying an arm 72 provided with a head 73 to suction cups.
  • This device 7 is also controlled by the circuit processing and control 3 which controls it synchronized with upstream operations and the passage of 12g slate to one of the F1, F2, F3 ... outputs nature and / or quality of the 12g slate produced.
  • Figure 2A shows the shape of a 12m fendi with a 12mC1 side is straight because resulting from the sawing of the block, comes the fendi 12m; the other sides 12mC2, 12mC3, 12mC4 have a more or less regular rounded shape.
  • Figure 2B shows another form of fendi 12n also having a straight 12nC1 side, resulting from sawing and two sides 12nC2, 12nC3, irregular.
  • this fendi 12n we have depicted the layout of a so-called “tortoise shell” (schuppen) having two straight sides and a rounded side.
  • Figure 3 shows schematically the device form 2 analysis including the receiving surface in form of roller table or conveyor 21 mounted on a lifting device shown schematically by scissor rods 23 but which can be any rack and pinion device or with mechanical or electric actuator, or even pneumatic.
  • the conveyor 21 is provided with an edge 210 forming a reference side, for example for slits having a right side resulting from sawing.
  • the transmitter 22E is shown pivoting. This transmitter can be controlled in rotation by a 220E motor which ensures pivoting in the direction of the curved arrow as well as the transverse tilt to draw the scan lines.
  • the receiver 22R is preferably fixed. He covers an area larger than the largest possible area of a fendi to be analyzed and each time receives the image of a trace of analysis of the transmitter 22E.
  • the fendi 12f from above the pile of fendis 12 carried by the conveyor 21, is at a reference height H0.
  • This reference height can be defined by a mechanical probe which controls the lifting mechanism 23 or by an infrared detector, placed above the battery of cleavings 12.
  • This defined position, identical for all splits to be detected, is advantageously chosen so that the form 2 analysis device can provide not only an image of the outline of the fendi except for a homothety but a exact image of the size of the fendi and define the outline of instructions for slate to be cut in this fendi 12f.
  • Figure 4A shows in a coordinate system (OX, OY), traces of the transverse scan of the fendi 12f. These traces carry the reference yi, associated with the coordinate of each scan line along the Y axis. scan trace allows to define the xi coordinate of the scan line yi along the OX axis and by cumulative points (xi, yi), the outline of the outline Ci of the fendi 12f.
  • Figure 4A like the previous figures, shows a fendi 12f with a right side of sawing aligned with the OY axis.
  • the 22R receiver receives the image of the yi line on the fendi.
  • This line is straight on the surface of the fendi and due to the thickness of the fendi and the inclination of the beam emitted by the 22E transmitter, this line is distorted at ends of the fendi.
  • Each Yi line has two points of discontinuity of abscissas who see the image of the edges of the fendi. Their interpolation between these points is the outline of the fendi.
  • the left side of the fendi is aligned on a mark at more or less ten degrees, so that all the first discontinuity points of the lines yi are aligned and correspond for their abscissa to the origin O of contact information.
  • This detection is extremely fast and it takes done in masked time, during the realization of the contour of the slate from the previous fendi in the rounding device 4.
  • Figures 5A, 5B show an example of a device 4.
  • This device consists of a cutout 41 and a rounding tool 42, both mounted coaxially on the same axis 43 of an electric motor 44.
  • the disc of the rounding tool 42 is a toothed disc such a saw disc while the cutting tool 41 is composed of radial arms 411 carrying weights 412. These weights strike the fendi to break it along a line located beyond the final outline of the slate; the latter is achieved by the rounding tool 42 which at the same time ensures the final layout and rounding.
  • the fendi 12dr being processed in the device 4 is supported at the line of action (LA) of the rounding or nibbling tool 42 by a support in disc shape 45, free in rotation which, by ensuring a relatively punctual contact with the underside of the fendi, contributes to the quality of the spall (bevel given to split by the rounding machine).
  • LA line of action
  • a conveyor 46 for removing debris.
  • the device 4 is also covered by a protective cover 47 against projections and forming hood for dust extraction and sound insulation.
  • Figure 5B shows in more detail the work of the rolling device 4 on a fendi 12dr, held by the suction cup 53 of the arm 52 of the first transfer device 5.
  • the transfer device 5 holds the fendi 12dr during the entire cutting operation and and presents it appropriately to guide it during this operation, the cutting tools 41 and rounding 42 being fixed.
  • the cutting tool 41 ( Figure 5B) roughs the shape of the fendi by removing the most important part corresponding to the band z1, leaving no subsistence that a thin strip z2 beyond the 12dr1 contour that we want give this place to the slate.
  • the cutting tool 41 strike the part of the fendi in the z1 strip to break the large pieces.
  • Band z2 is a protection zone for avoid any cracks, which could occur in the zend band of the fendi, does not propagate beyond the final contour 12dr1.
  • the rounding is carried out by the rounding tool 42 which is in fact a nibbler; this one works in a much finer and less brutal way, too, in progressing, does this tool 42 not risk creating cracks propagating beyond the line 12dr1, towards inside the slate, the support 45 prohibiting this spread.
  • the vector Vi plotted on the suction cup 53 of the device transfer 5 shows that the fendi 12dr is oriented precisely.
  • the fendi 12dr is moved in the AR direction.
  • FIG. 6 shows an example of installation of automatic production of slates according to the invention. This installation consists of the same elements as those already described above which bear the same references. The differences will be discussed below in more detail while the common parts will simply be cited.
  • the input conveyor 1, ensuring storage is preceded by a roller conveyor 101, powered from an automatic tiering machine 9 or from a manual slitting machine 91.
  • the tiercer 9 is for example made like the one shown Figures 9 and 10 and its description will be made later.
  • the semi-automatic slitting machine 91 receives jets or double jets for hand split.
  • Such a machine is known per se and does not no detailed description required. She generally works by depression and impaction.
  • the suction cups have been specially modified for this application, which consists in splitting slits of any shape whereas all the fendis treated so far by de such machines are rectangular slits.
  • the overall shape suction cups has been reduced to be able to attach to splits of any shape, even reduced.
  • the slits obtained in this machine 91 are deposited on a tray of a translation table 102 which inserts the piles of fendis loaded on the trays in the conveyor 1.
  • the figure shows the different segments of the conveyor 1 driven by motors 103.
  • the first transfer means 6 is simply shown by a circle. It supplies the rounding device 4.
  • the first transfer means 6 deposits the slates on table 63 hence the third transfer means 7, also schematized simply by a circle, takes the slates to pass them either to the discharge discharge F5 which brings rejected products back to the entry level semi-automatic station 91 to carry out any treatment manual to recover a slate in a fendi having a default.
  • the third transfer means 7 also passes slates according to the classification carried out by the processing circuit of the control device not shown, to outputs F1, F2, F3, F4 ... corresponding to the different types of slate to make. Then the slates are recovered to be packaged.
  • the installation includes a cabinet power 300 for the various electrical circuits.
  • FIG. 7 The sectional view of Figure 7 shows more particularly the input conveyor 1 and its various motors 103 as well as the form 2 analysis device with the plate cleavage elevator.
  • the waste conveyor 46 is shown. It leads to the evacuation conveyor 200, housed at this location in a false 201 so that the waste conveyor 46 can travel in a horizontal position, above from the workshop floor.
  • the evacuation conveyor 200 is in fact inclined. He comes out of false 201 to rise above a dumpster.
  • Figure 8 is a side view of the device of shape analysis showing the plate 21 and the device elevator.
  • the plate 21 is carried by a console 211 mounted on a guide column 212, the assembly being actuated by a screw jack controlled by an electric motor 213.
  • Figures 9 and 10 show an exemplary embodiment a tiercer 9. It is intended to operate automatically to tier slate blocks previously peeled and having at least one sawn side.
  • the machine has two parts, a 92 slot system and a block 93 holding system.
  • the slot system includes an impact cylinder 921 carrying a slot chisel 922, the assembly being mounted on a plate 923 animated by a displacement vertical defined.
  • the horizontal 922 slot chisel is associated with a vertical shield 924 against which is pushed the sawn face of the block to be tiered, not shown.
  • Tiering starts from the top and with each operation the tray 923 carried by columns 925, descends one notch. Movement vertical of the plate 923 is ensured by a ball screw, driven by a brushless motor.
  • the other parts of installation, upstream, in particular saws for cutting the blocks are not described in detail.
  • the block placed on a roller track 932 is held by the holding system 93 formed of a set of independent cylinders 931 (FIG. 10), pushing the block forward, with its sawn face resting against the shield 924.
  • This machine is controlled by the automaton of the part of the processing circuit and ordered.
  • the tiercer 9 receives a shale block, peeled and sawn. This block is presented horizontally; he rests on its fissility plane. After its installation, the cylinders 931 block it against the shield 924 which is placed at the proper height to make the first slit. Then, the clamping by the cylinders 931 is released then the plate step down to split the throw or double throw next. This machine delivers a block per minute in a single jet, or a jet every two seconds.
  • the positioning of the block is done by hand or automatically by slaving the support conveyor to a block positioning device at the start of operations, and the height of the block is identified by the detection of the higher fissile plane. Then the operation of the tiercer machine is done automatically.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Mechanical Engineering (AREA)
  • Sorting Of Articles (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Fertilizers (AREA)
  • Curing Cements, Concrete, And Artificial Stone (AREA)
  • Laser Beam Processing (AREA)
  • Treatment Of Fiber Materials (AREA)

Abstract

Sections of reject shale blocks split to slate thickness (12) are brought to an optical analyser (22) which detects their shape and supplies the data to a control processor (3). The processor determines the best use of the shape to produce slates from a stored range of profiles and directs a cutting and shaping tool (4). The slates are then transported (5) to be tested by a further optical analyser (62) before final delivery (7) to locations (F)

Description

La présente invention concerne un procédé et une installation de fabrication automatique d'ardoises à partir de fendis provenant de petits blocs, constitués de rejets de fabrication traditionnelle.The present invention relates to a manufacturing method and installation automatic slate from cleavage from small blocks, made up of rejects from traditional manufacturing.

L'invention est relative à la fabrication d'ardoises qui se fait en deux étapes :

  • la fente des blocs de schiste en fendis de forme quelconque mais à l'épaisseur définitive de l'ardoise,
  • le rondissage des fendis pour leur donner la forme définitive des ardoises. L'état technique le plus proche FR2585982 montre une installation pour une telle fabrication automatique d'ardoises.
The invention relates to the manufacture of slates which is done in two stages:
  • the slit of the shale blocks in split slits of any shape but at the final thickness of the slate,
  • the rounding of the slits to give them the final shape of the slates. The closest technical state FR2585982 shows an installation for such automatic production of slates.

Pour fabriquer des ardoises, le procédé et l'installation selon l'invention se proposent d'utiliser des blocs de schiste qui sont en général inutilisables dans les installations connues, et constituent des rejets. Il s'agit de petits blocs bruts d'un poids de 50 à 100 kg de schiste ardoisier, récupérés dans les rejets de mines et d'ateliers de fabrication. Leur pourtour est quelconque et deux faces sont parallèles au plan de fissilité.To make slates, the process and the installation according to the invention proposes to use shale blocks which are generally unusable in known installations, and constitute releases. It's about small rough blocks weighing 50 to 100 kg of shale slate, recovered from mine and workshop rejects Manufacturing. Their circumference is arbitrary and two faces are parallel to the fissile plane.

Ces blocs sont fendus en plaques suivant les plans de fissilité. On réalise soit des plaques ayant une épaisseur de quatre ardoises alors appelées « double jet », soit des plaques ayant une épaisseur de deux ardoises appelées « jet ».These blocks are split into plates according to the fissility plans. We realize either plates having a thickness of four slates then called "double jet", either plates having a thickness of two slates called "Jet".

L'épaisseur du jet est variable selon les modèles. Citons par exemple :

  • 5,4 mm pour la gamme du modèle « français »,
  • 10 mm pour les modèles allemands,
  • 9 mm pour les modèles de la gamme « historique »,
etc.The thickness of the spray is variable depending on the model. For example:
  • 5.4 mm for the “French” model range,
  • 10 mm for German models,
  • 9 mm for the models in the "historic" range,
etc.

La fente des doubles jets avec deux parties de même épaisseur donne des « jets. La fente des jets en deux parties de même épaisseur donne des fendis c'est-à-dire des plaques de schiste ayant l'épaisseur d'une ardoise.The split of the double jets with two parts of same thickness gives "jets." Split jets in two parts of the same thickness give splits, i.e. shale slabs the thickness of a slate.

Enfin, à partir d'un fendi on réalise une ardoise en découpant le contour à la forme voulue. Cette forme peut être une forme rectangulaire ou carrée ou une forme arrondie. Il existe un très grand nombre de formes d'ardoises suivant les applications.Finally, from a fendi we make a slate by cutting the outline to the desired shape. This shape can be a rectangular or square shape or a rounded shape. There are a very large number of slate shapes following applications.

En amont de l'application du procédé ou de l'installation selon l'invention, on effectue un certain nombre d'opérations sur les petits blocs.Upstream of the application of the process or the installation according to the invention, a certain number is carried out operations on small blocks.

Les petits blocs issus de la mine ou des rejets des ateliers de surface sont d'abord triés. On élimine ainsi les blocs inutilisables à cause de leurs défauts ou de l'irrégularité du plan de fissilité. Les blocs retenus sont écroûtés, c'est-à-dire préparés pour qu'ils présentent deux faces parallèles selon le plan de fissilité. Si leurs dimensions ne dépassent pas celles d'une ardoise, ces blocs sont utilisés directement. Dans le cas contraire, ils sont sciés.Small blocks from the mine or rejects surface workshops are first sorted. We thus eliminate blocks unusable because of their faults or the irregularity of the fissile plane. The blocks retained are peeled, i.e. prepared so that they have two parallel faces along the fissile plane. If their dimensions do not exceed those of a slate, these blocks are used directly. Otherwise, they are sawn.

Le sciage des blocs consiste à scier une face dans un plan perpendiculaire au plan de fissilité pour permettre leur traitement dans la machine à tiercer (tierceuse). Le transport des blocs, à partir de leur préparation, se fait en général par un convoyeur à rouleaux.Sawing blocks consists of sawing one side in a plane perpendicular to the fissile plane to allow their processing in the tierceuse machine. The transport of the blocks, from their preparation, is done usually by a roller conveyor.

Ils subissent ensuite un nouveau classement, suivant que leur forme permet un tierçage automatique, comme cela sera décrit ultérieurement, ou qu'ils nécessitent un tierçage manuel. Dans un cas, ils passent dans la machine à tiercer, dans l'autre cas, ils passent au poste de tierçage.They then undergo a new classification, according to that their shape allows automatic trimming, like this will be described later, or that they require a manual trimming. In one case, they pass through the tiercer, in the other case, they pass to the tiering station.

La présente invention a pour but de développer un procédé et une installation permettant de fabriquer automatiquement des ardoises à partir de blocs de rejet, de dimensions trop petites pour être utilisés économiquement dans les installations connues.The present invention aims to develop a process and installation for automatically manufacturing slates from reject blocks, of dimensions too small to be used economically in known installations.

A cet effet l'invention concerne un procédé du type défini ci-dessus, dans lequel :

  • on fait une analyse de forme automatique de chaque fendi pour définir son contour,
  • on attribue à chaque fendi un contour de consigne correspondant à l'ardoise optimale que peut donner ce fendi,
  • on découpe le contour grossier de l'ardoise en laissant subsister une bande de protection au-delà du contour de consigne de l'ardoise puis on découpe le contour définitif et on rondit la trace,
  • on contrôle l'ardoise réalisée en la comparant au contour de consigne,
  • on classe l'ardoise suivant le résultat du contrôle.
To this end, the invention relates to a method of the type defined above, in which:
  • we do an automatic shape analysis of each fendi to define its outline,
  • each fendi is assigned a setpoint contour corresponding to the optimal slate that this fendi can give,
  • the coarse contour of the slate is cut, leaving a protective strip beyond the slate setpoint contour, then the final contour is cut and the trace is rounded,
  • the slate produced is checked by comparing it with the setpoint contour,
  • the slate is classified according to the result of the control.

Les revendications dépendantes 2, 3 et 4 décrivent des modes de réalisation particuliers du procédé.Dependent claims 2, 3 and 4 describe modes of particular realization of the process.

L'invention concerne également une installation notamment pour la mise en oeuvre du procédé ci-dessus, comprenant :

  • A) un dispositif d'analyse de forme ayant
    • une surface de réception du fendi,
    • un analyseur optique détectant le contour du fendi,
    • un circuit de traitement et de commande qui
      • reçoit les signaux de l'analyseur et définit le contour du fendi,
      • détermine le type d'ardoise (contour de consigne) réalisable dans ce fendi, et
      • enregistre ces données et la position orientée du fendi,
  • B) un dispositif de rondissage
    en aval du dispositif d'analyse de forme comprenant
    • un organe de découpe pour tailler le contour grossier de l'ardoise suivant le contour de consigne défini par le circuit de traitement du dispositif d'analyse de forme,
    • une grignoteuse grignotant et rondissant l'ébauche d'ardoise pour donner une ardoise et travaillant le fendi en aval de l'organe de découpe,
  • C) un dispositif de contrôle, en aval du dispositif de rondissage, comprenant
    • un analyseur optique pour analyser l'ardoise réalisée et fournir un signal d'analyse,
    • un circuit de traitement qui
      • reçoit le signal d'analyse et le compare à un signal de consigne correspondant à la forme de consigne du type d'ardoise, établi par l'analyseur de forme,
      • classe l'ardoise en fonction du résultat de cette comparaison,
  • D) une installation de transfert comprenant :
    • un premier moyen de transfert entre l'analyseur de forme et le dispositif de rondissage,
      • prenant le fendi dans le dispositif d'analyse pour le présenter à l'organe de découpe et à la grignoteuse du dispositif de rondissage en tenant et guidant le fendi pendant cette opération, puis déposer l'ardoise en sortie de rondissage dans le dispositif de contrôle suivant une position orientée,
      • un circuit de commande du premier moyen de transfert pour lui faire exécuter les mouvements de prise du fendi, de tenue du fendi dans le dispositif de rondissage et de suivi de trajectoire selon la forme à donner à l'ardoise et déposer l'ardoise dans une position orientée dans le dispositif de contrôle,
    • un second moyen de transfert constituant la surface de réception du moyen de contrôle pour recevoir l'ardoise pour l'analyse de contrôle et la faire passer à un troisième moyen de transfert,
      • un circuit de commande de ce second moyen de transfert en fonction du mouvement du premier moyen de transfert et assurer le déplacement de l'ardoise en position orientée définie,
    • un troisième moyen de transfert entre le dispositif de contrôle et la sortie, reprenant l'ardoise du second moyen de transfert pour la faire passer de manière sélective à la sortie et en lui faisant subir des améliorations légères en fonction des résultats du contrôle.
    • The invention also relates to an installation, in particular for implementing the above method, comprising:
  • A) a shape analysis device having
    • a surface for receiving the fendi,
    • an optical analyzer detecting the contour of the fendi,
    • a processing and control circuit which
      • receives the signals from the analyzer and defines the outline of the fendi,
      • determines the type of slate (setpoint contour) achievable in this fendi, and
      • records this data and the oriented position of the fendi,
  • B) a rounding device
    downstream of the shape analysis device comprising
    • a cutting member for cutting the rough outline of the slate according to the set outline defined by the processing circuit of the shape analysis device,
    • a nibbler nibbling and rounding the slate blank to give a slate and working the slit downstream of the cutting member,
  • C) a control device, downstream of the rolling device, comprising
    • an optical analyzer for analyzing the slate produced and providing an analysis signal,
    • a processing circuit which
      • receives the analysis signal and compares it to a reference signal corresponding to the reference form of the slate type, established by the form analyzer,
      • classify the slate according to the result of this comparison,
  • D) a transfer installation comprising:
    • a first transfer means between the shape analyzer and the rounding device,
      • taking the fendi in the analysis device to present it to the cutting member and the nibbler of the rounding device while holding and guiding the fendi during this operation, then deposit the slate at the exit of the rounding in the control device in an oriented position,
      • a circuit for controlling the first transfer means to make it execute the movements of taking the fendi, holding the fendi in the rolling device and following the trajectory according to the shape to be given to the slate and depositing the slate in a oriented position in the control device,
    • a second transfer means constituting the receiving surface of the control means for receiving the slate for the control analysis and passing it to a third transfer means,
      • a circuit for controlling this second transfer means as a function of the movement of the first transfer means and ensuring the movement of the slate in a defined oriented position,
    • a third transfer means between the control device and the outlet, taking up the slate of the second transfer means to make it pass selectively to the outlet and making it undergo slight improvements as a function of the results of the check.

    • Les revendications dépendantes 6-13 décrivent des modes de réalisation particuliers de l'installation.Dependent claims 6-13 describe modes of particular realization of the installation.

    Le dispositif d'analyse de forme permet de définir pour chaque fendi la forme d'ardoise réalisable en fonction de la forme du fendi et de la demande en produit. Cette forme est définie automatiquement par comparaison entre le contour du fendi et une bibliothèque de formes prédéfinies enregistrées dans une mémoire. La forme ainsi choisie est associée individuellement à chaque fendi. Cette forme de consigne ou contour de consigne est associée au fendi dans les différentes étapes de fabrication de l'ardoise ainsi que pour le contrôle du résultat de la fabrication. Le dispositif de rondissage, permettant de traiter tous les contours, qu'ils soient rectilignes ou courbes, permet ainsi de réaliser, piloté par le circuit de traitement et de commande, successivement des formes d'ardoises pratiquement quelconques sans qu'il ne soit nécessaire au préalable de classer les ardoises en groupes et de traiter séparément chaque groupe dans des lignes différentes (par exemple des ardoises rectangulaires, des ardoises arrondies, etc.).The shape analysis device allows you to define for each fendi the form of slate achievable in function the shape of the fendi and the demand for the product. This shape is defined automatically by comparison between the outline of the fendi and a library of predefined shapes stored in memory. The shape thus chosen is associated individually for each fendi. This form of deposit or setpoint contour is associated with the fendi in the different stages of slate manufacturing as well as for control of the manufacturing result. The device rounding, allowing to treat all contours, whether be rectilinear or curved, thus allows to realize, piloted through the processing and control circuit, successively virtually any slate shapes without that it is not necessary to classify the slates beforehand in groups and to treat each group separately in different lines (e.g. rectangular slates, rounded slates, etc.).

    Le contrôle de l'ardoise fabriquée est également fait de façon automatique. Ce contrôle est plus simple que l'analyse de forme, initiale, puisque la forme de consigne que doit présenter l'ardoise est déjà connue et il s'agit simplement de vérifier la concordance entre la forme réelle de l'ardoise fabriquée et la forme de consigne.The control of the manufactured slate is also done automatically. This control is simpler than initial form analysis, since the target form what slate should present is already known and it is simply to check the concordance between the real form of the manufactured slate and the deposit form.

    Comme l'ardoise est manipulée par des moyens de transfert qui conservent la position orientée du fendi puis de l'ardoise, le circuit de traitement peut connaítre à tout instant la position de l'ardoise dans l'espace et notamment lorsque cette ardoise est déposée sur la surface de réception du dispositif de contrôle. Cela accélère considérablement le traitement et simplifie les calculs une fois la forme de l'ardoise détectée.As slate is handled by means of transfer which keep the oriented position of the fendi then of slate, the treatment circuit can know at any instant position of the slate in space and in particular when this slate is placed on the receiving surface of the control device. This greatly accelerates the processing and simplifies calculations once the form of the slate detected.

    L'installation de fabrication automatique d'ardoises selon l'invention prend en charge les fendis et fournit en sortie des ardoises classées selon les formes réalisées. Le choix des formes peut être limité par l'opérateur en fonction des impératifs de la demande (type d'ardoises, quantités).The automatic slate manufacturing facility according to the invention supports splitting and provides leaving slates classified according to the shapes produced. The choice of shapes can be limited by the operator by depending on demand requirements (type of slate, quantities).

    L'installation selon l'invention peut être automatisée également pour les parties en amont de celles évoquées ci-dessus et notamment par la machine à tiercer.The installation according to the invention can be automated also for the parts upstream of those mentioned above and in particular by the tiering machine.

    Suivant une autre caractéristique avantageuse de l'invention l'analyseur optique comporte :

    • un émetteur avec une source de faisceau lumineux destiné à balayer la surface du fendi,
    • un récepteur recevant le signal de balayage tracé par l'émetteur sur le fendi et fournissant un signal de détection pour le circuit de traitement et de commande.
    According to another advantageous characteristic of the invention, the optical analyzer comprises:
    • a transmitter with a light beam source intended to scan the surface of the fendi,
    • a receiver receiving the scanning signal traced by the transmitter on the fendi and providing a detection signal for the processing and control circuit.

    L'analyseur optique travaillant par balayage permet une définition suffisamment précise du contour du fendi pour connaítre sa forme d'une manière automatique. Cette reconnaissance de forme est simplifiée également par le fait qu'un côté du fendi est repéré.The optical analyzer working by scanning allows a sufficiently precise definition of the contour of the fendi to know its shape in an automatic way. This recognition form is also simplified by the fact that one side of the fendi is spotted.

    L'installation travaillant automatiquement, il est possible d'isoler l'analyseur optique du dispositif d'analyse de forme et celui du dispositif de contrôle pour éviter de perturber l'analyse par des lumières parasites.The installation working automatically, it is possible to isolate the optical analyzer from the device of form analysis and that of the control device for avoid disturbing the analysis by stray lights.

    Cet analyseur optique comporte de préférence un émetteur monté sur support oscillant qui en commande le balayage transversal.This optical analyzer preferably comprises a transmitter mounted on an oscillating support which controls scanning transverse.

    Les émetteurs/récepteurs des analyseurs optiques sont avantageusement protégés contre la poussière par soufflage d'air filtré, qui balaie l'extérieur des analyseurs, notamment au niveau des lentilles d'entrée et de sortie, pour éviter le dépôt de poussières.Transmitters / receivers of optical analyzers are advantageously protected against dust by blowing filtered air, which scans the outside of the analyzers, especially at the entry and exit lenses, to avoid the deposit of dust.

    Suivant une caractéristique avantageuse, le dispositif de rondissage comporte pour les modèles d'ardoises présentant des formes arrondies :

    • un outil de découpe formé de marteaux rotatifs portés par un axe entraíné par un moteur, l'outil de découpe dégageant une zone large du fendi, au-delà d'une bande étroite de protection bordant extérieurement le côté de l'ardoise en cours de réalisation,
    • un outil de rondissage en forme de disque à dents pour enlever la bande étroite laissée par l'outil de découpe et en même temps assure le rondissage du côté correspondant de l'ardoise, cette bande étroite étant enlevée par l'outil de rondissage,
    • un appui mobile constitué par un contre-disque placé au niveau de la ligne d'action de l'outil de rondissage, sous le fendi, pour soutenir le bord du fendi en cours de grignotage.
    According to an advantageous characteristic, the rounding device comprises, for the slate models having rounded shapes:
    • a cutting tool formed by rotary hammers carried by an axis driven by a motor, the cutting tool clearing a wide area of the fendi, beyond a narrow protective strip externally bordering the side of the slate being production,
    • a rounding tool in the shape of a toothed disc to remove the narrow strip left by the cutting tool and at the same time ensures the rounding of the corresponding side of the slate, this narrow strip being removed by the rounding tool,
    • a mobile support constituted by a counter-disc placed at the level of the line of action of the rounding tool, under the fendi, to support the edge of the fendi during snacking.

    Pour les modèles d'ardoises de forme rectangulaire, le dispositif de rondissage comporte :

    • un outil de découpe formé d'une lame de scie à dents largement espacées,
    • un outil de rondissage en forme de lame continue inclinée de 10 à 20° sur le fendi au moment de la coupe,
    • un appui fixe constitué d'une contre-lame placée au niveau de la ligne d'action des outils de rondissage et de découpe.
    For the rectangular slate models, the rounding device includes:
    • a cutting tool formed by a saw blade with widely spaced teeth,
    • a rolling tool in the form of a continuous blade inclined by 10 to 20 ° on the fendi at the time of cutting,
    • a fixed support consisting of a counter blade placed at the line of action of the rounding and cutting tools.

    Ces dispositifs de rondissage travaillant en deux opérations, l'une une opération de dégagement grossier de la forme de l'ardoise à réaliser, et l'autre une opération de précision donnant la forme exacte de l'ardoise, simplifient les opérations puisque ces deux interventions sont faites sur la même machine mais de façon légèrement décalée dans le temps (ou d'une certaine distance sur l'ardoise).These rounding devices working in two operations, one a rough release operation from the form of the slate to be made, and the other an operation of precision giving the exact shape of the slate, simplify the operations since these two interventions are made on the same machine but slightly offset in the time (or a certain distance on the slate).

    De plus, cette façon de dégrossir le fendi puis de le découper et de le rondir à la forme définitive évite les passes multiples du même fendi dans une machine ou dans plusieurs machines.In addition, this way of roughing up the fendi then cutting it and rounding it to the final shape avoids multiple passes of the same fendi in a machine or in multiple machines.

    Suivant une autre caractéristique avantageuse, l'analyseur optique de contrôle comprend un émetteur émettant un pinceau lumineux destiné à balayer l'ardoise et un récepteur optique recevant l'image du balayage pour fournir un signal de détection au circuit de traitement et de commande.According to another advantageous characteristic, the optical control analyzer comprises a transmitter emitting a light brush for sweeping the slate and a receiver optical receiving the scan image to provide a signal detection to the processing and control circuit.

    Suivant une autre caractéristique avantageuse, le premier et le troisième moyen de transfert sont constitués par un robot comprenant une colonne portant un bras terminé par une ventouse dont la position et l'orientation est définie, les rayons d'action des deux robots ne se coupant pas.According to another advantageous characteristic, the first and third means of transfer consist by a robot comprising a column carrying a completed arm by a suction cup whose position and orientation is defined, the action ranges of the two robots do not intersect.

    Dans l'installation selon l'invention, le second moyen de transfert est de préférence un plateau mobile en translation. Ce plateau se déplace entre la position de réception et de contrôle de l'ardoise en fin de fabrication et une position d'enlèvement pour l'évacuation de l'ardoise ou son passage dans l'installation de poinçonnement pour percer, le cas échéant, les trous de clouage avant l'enlèvement de l'ardoise.In the installation according to the invention, the second transfer means is preferably a movable plate in translation. This tray moves between the receiving position and control of the slate at the end of manufacturing and a removal position for the evacuation of the slate or its passage through the punching installation for drilling, if necessary, the nailing holes before removal of slate.

    Un dispositif avantageux à base de ventouses permet de maintenir l'ardoise en position pendant le mouvement.An advantageous device based on suction cups allows keep the slate in position during movement.

    Enfin, les ardoises reconnues non conformes par le contrôle sont évacuées soit pour revenir à l'entrée de l'installation après un examen par l'opérateur soit pour être mises au rebut. Finally, slates recognized as non-compliant by control are evacuated either to return to the entry of installation after operator review either to be scrapped.

    Enfin, l'installation peut être complétée en entrée par une machine à tiercer, automatique, et différents équipements de sciage de blocs précédés eux-mêmes par des dispositifs d'écroûtage.Finally, the installation can be completed as an input by a tiercer, automatic, and different block sawing equipment itself preceded by peeling devices.

    La présente invention sera décrite ci-après de manière plus détaillée à l'aide des dessins annexés dans lesquels :

    • la figure 1 est un schéma d'ensemble de l'installation selon l'invention,
    • la figure 2A est un schéma montrant la découpe d'une ardoise de forme rectangulaire dans un fendi,
    • la figure 2B montre une autre forme d'ardoise (ardoise « écaille ») réalisée dans un fendi,
    • la figure 3 est une vue schématique du dispositif d'analyse de forme,
    • la figure 4A montre des traces de balayage d'un fendi par l'analyseur optique du dispositif d'analyse de forme,
    • la figure 4B est un diagramme donnant le signal de sortie d'une ligne de balayage d'un fendi par l'analyseur optique,
    • la figure 5A est une vue en coupe verticale schématique des parties principales du dispositif de rondissage,
    • la figure 5B est une vue de dessus correspondant à la figure 4A,
    • la figure 6 est une vue d'ensemble d'une installation de fabrication automatique d'ardoises selon un mode de réalisation de l'invention,
    • la figure 7 est une vue de côté de l'installation au niveau du convoyeur alimentant le dispositif d'analyse de forme,
    • la figure 8 est une vue en coupe selon VIII-VIII de la figure 7,
    • la figure 9 est une vue de bout d'une machine à tiercer,
    • la figure 10 est une vue de dessus correspondant à la figure 9.
    The present invention will be described below in more detail with the aid of the appended drawings in which:
    • FIG. 1 is an overall diagram of the installation according to the invention,
    • FIG. 2A is a diagram showing the cutting of a rectangular slate in a fendi,
    • FIG. 2B shows another form of slate (“scale” slate) produced in a fendi,
    • FIG. 3 is a schematic view of the shape analysis device,
    • FIG. 4A shows traces of scanning of a slit by the optical analyzer of the shape analysis device,
    • FIG. 4B is a diagram giving the output signal from a scanning line of a slit by the optical analyzer,
    • FIG. 5A is a schematic vertical section view of the main parts of the rounding device,
    • FIG. 5B is a top view corresponding to FIG. 4A,
    • FIG. 6 is an overall view of an installation for the automatic production of slates according to one embodiment of the invention,
    • FIG. 7 is a side view of the installation at the level of the conveyor supplying the shape analysis device,
    • FIG. 8 is a sectional view along VIII-VIII of FIG. 7,
    • FIG. 9 is an end view of a tiering machine,
    • FIG. 10 is a top view corresponding to FIG. 9.

    Selon la figure 1, une installation de fabrication automatique d'ardoises à partir de fendis comprend un convoyeur d'entrée 1, à rouleaux motorisés par sections encore appelé transrouleur, pour transporter et stocker de façon intermédiaire des piles de fendis 12 résultant d'un travail de fente réalisé en amont de manière manuelle ou de façon semi-automatique ou automatique.According to Figure 1, a manufacturing facility automatic slate from fendis includes a input conveyor 1, with motorized rollers in sections again called a conveyor, to transport and store so intermediate of the piles of fendis 12 resulting from a splitting work done upstream manually or semi-automatic or automatic.

    Le convoyeur d'entrée 1 alimente un dispositif d'analyse de forme 2 constitué par une surface de réception ou table à rouleaux 21 encore appelée transrouleur recevant une pile de fendis 12. Le dispositif d'analyse de forme 2 comprend un analyseur optique 22 destiné à détecter le contour du fendi 12 sur le dessus de la pile placée sur la surface de réception 21. Cet analyseur optique 22 se compose d'un émetteur 22E et d'un récepteur 22R. L'émetteur 22E émet un faisceau très fin tel qu'un faisceau laser et le récepteur 22R reçoit l'image de chaque balayage du faisceau de l'émetteur 22E pour fournir un signal de détection exploité et donnant alors la forme du contour de chaque fendi et sa position orientée par rapport à la surface de réception 21.The input conveyor 1 feeds a device form 2 analysis consisting of a receiving surface or roller table 21 also called a receiving roller a pile of cloves 12. The shape analysis device 2 includes an optical analyzer 22 for detecting the contour fendi 12 on top of the stack placed on the surface reception 21. This optical analyzer 22 is composed a 22E transmitter and a 22R receiver. The 22E transmitter transmits a very fine beam such as a laser beam and the receiver 22R receives the image of each scan of the beam the transmitter 22E to provide an exploited detection signal and then giving the shape of the outline of each fendi and its oriented position with respect to the receiving surface 21.

    La surface de réception 21 est constituée par une table élévatrice de façon que le fendi 12f, du dessus, soumis à l'analyse de forme, se trouve toujours dans un même plan horizontal. Ce positionnement se fait par l'asservissement de la table 21 et d'un télémètre par exemple à infrarouge détectant la surface supérieure du fendi 12f chaque fois sur le dessus de la pile.The receiving surface 21 is constituted by a lifting table so that the fendi 12f, from above, submitted to the shape analysis, is always in the same plane horizontal. This positioning is done by the enslavement of table 21 and an infrared rangefinder for example detecting the upper surface of the fendi 12f each time on the above the stack.

    Ces moyens seront détaillés ultérieurement.These means will be detailed later.

    L'émetteur 22E balaie la surface du fendi 12f suivant un balayage transversal ou longitudinal, correspondant à une certaine résolution (écartement des lignes de balayage).The 22E transmitter scans the surface of the fendi 12f following a transverse or longitudinal scan, corresponding at a certain resolution (spacing of scanning lines).

    Le récepteur 22R, équipé d'un filtre optique en fonction de la longueur d'onde de la lumière du faisceau de l'émetteur, reçoit l'image de chaque ligne de balayage. Cette image est différente suivant que le faisceau lumineux se trouve sur la surface du fendi 12f ou en amont ou en aval de cette surface, au début et à la fin de chaque trace de balayage.The 22R receiver, equipped with an optical filter in function of the wavelength of the beam light the transmitter receives the image of each scan line. This image is different depending on whether the light beam is found on the surface of the fendi 12f or upstream or downstream of this surface, at the beginning and at the end of each scan trace.

    Il en résulte l'émission d'un signal S1 vers le circuit de commande 3. Celui-ci envoie également des signaux SC1 de commande de l'opération de balayage, c'est-à-dire pour débuter l'opération de balayage et la terminer à la fin de la lecture de chaque fendi et après l'enlèvement du fendi qui vient d'être analysé. Le circuit de commande 3 pilote également la mise en place d'une nouvelle pile de fendis.This results in the emission of a signal S1 to the control circuit 3. This also sends signals SC1 for controlling the scanning operation, i.e. for start the scanning operation and finish it at the end of the reading each fendi and after removing the fendi which has just been analyzed. Control circuit 3 also controls the installation of a new pile of fendis.

    Ces piles peuvent être régulières ou irrégulières dans la mesure où le dispositif d'analyse de forme 2 détecte toujours le fendi du dessus de la pile dans le plan d'analyse. Ce positionnement est indispensable pour obtenir des signaux de détection S1 représentatifs d'une forme exacte et non pas d'une forme homothétique.These batteries can be regular or irregular since the shape analysis device 2 detects always the top fendi in the plane analysis. This positioning is essential to obtain detection signals S1 representative of an exact shape and not of a homothetic form.

    Le circuit de traitement 3 définit le contour du fendi 12f analysé et le compare à des formes d'ardoises contenues dans une bibliothèque d'ardoises. Il optimise l'utilisation du fendi en choisissant l'ardoise qui s'inscrit le mieux dans la surface disponible du fendi. Ce choix tient également compte des besoins d'ardoises à fabriquer.The processing circuit 3 defines the contour of the fendi 12f analyzed and compared to forms of slate contained in a slate library. It optimizes the use of fendi by choosing the slate which fits best in the available area of the fendi. This choice is also takes into account the needs of slates to be manufactured.

    Le fendi, qui vient d'être analysé, est non seulement défini par son contour mais également par sa position et par son orientation angulaire comme cela est schématisé par le vecteur Vi et le point d'origine Of.The fendi, which has just been analyzed, is not only defined by its outline but also by its position and by its angular orientation as shown by the vector Vi and the point of origin Of.

    Il lui est alors associé dans le circuit de traitement et de commande 3, un contour de consigne de l'ardoise à réaliser.It is then associated with it in the processing circuit and control 3, a setpoint contour of the slate to achieve.

    En aval du dispositif d'analyse de forme 2, l'installation comprend un dispositif de rondissage 4 découpant la forme de l'ardoise et rondissant son contour. Ce dispositif de rondissage 4 comprend un organe de découpe associé à une grignoteuse. L'organe de découpe 41 taille le contour grossier de l'ardoise dans le fendi 12f suivant la forme de consigne définie par le circuit de traitement et de commande 3 et la grignoteuse 42 assure la finition de la forme et le rondissement de l'ébauche d'ardoise pour donner une ardoise 12g à partir du fendi 12f. Un dispositif de transfert 5. constitué par un robot porté par une colonne 51 avec un bras 52 et une tête à ventouses 53, assure le transfert du fendi 12f du dessus de la pile du dispositif d'analyse de forme 2 vers le dispositif de rondissage 4 puis de ce dispositif vers un dispositif de contrôle 6 de l'ardoise 12g ainsi fabriquée. Le dispositif de transfert 5 est relié au circuit de traitement et de commande 3 qui pilote le dispositif de transfert 5 (premier moyen de transfert) pour que sa tête à ventouses 53 prenne le fendi dans le dispositif d' analyse 2 à un endroit et suivant une orientation définis. Le circuit de commande 3 fournit des signaux de commande SC2 au dispositif de transfert 5 pour que celui-ci présente le fendi 12f à découper et à rondir dans la machine de rondissage 4 et le déplace pour réaliser le contour de l'ardoise selon le contour de consigne défini par le circuit de commande et de traitement 3. Dans cette installation, le dispositif de rondissage agit en un point fixe et le fendi est déplacé par rapport à ce point fixe selon une trajectoire propre à chaque modèle qui est mémorisée dans le système pour réaliser l'ardoise ayant le contour voulu.Downstream of the form 2 analysis device, the installation includes a cutting device 4 cutting the shape of the slate and rounding its outline. These measures of rounding 4 comprises an associated cutting member to a nibbler. The cutting member 41 cuts the contour coarse slate in the fendi 12f according to the form of setpoint defined by the processing and control circuit 3 and the nibbler 42 ensures the finishing of the shape and the rounding of the slate blank to give a slate 12g from fendi 12f. A transfer device 5. constituted by a robot carried by a column 51 with an arm 52 and a suction head 53, ensures the transfer of the fendi 12f from the top of the stack of the shape analysis device 2 to the rounding device 4 then from this device to a control device 6 for the 12g slate thus manufactured. The transfer device 5 is connected to the processing circuit and control 3 which controls the transfer device 5 (first transfer means) so that its suction cup head 53 take the fendi in the analysis device 2 at a place and following a defined orientation. The control circuit 3 supplies control signals SC2 to the control device transfer 5 so that it presents the fendi 12f to be cut and to round in the rounding machine 4 and move it to make the outline of the slate according to the outline of setpoint defined by the control and processing circuit 3. In this installation, the rounding device acts at a fixed point and the fendi is moved relative to this fixed point according to a trajectory specific to each model which is memorized in the system to make the slate having the desired outline.

    Une vitesse de découpe est associée à chaque élément de la trajectoire permettant ainsi une meilleure qualité de découpe.A cutting speed is associated with each element trajectory allowing better quality cutting.

    Pendant toute cette opération de taille et de rondissage, le dispositif de transfert 5 se déplace par son bras 52 et sa tête 53 tout en conservant à chaque instant l'information relative à la position exacte du fendi (ou de l'ardoise en cours de réalisation).During this whole operation of size and rounding, the transfer device 5 moves by its arm 52 and head 53 while maintaining at all times information relating to the exact position of the fendi (or slate in progress).

    A la fin de cette opération, le circuit de commande 3 pilote le dispositif de transfert 5 pour qu'il transfère l'ardoise 12g dans le dispositif de contrôle 6, dans une position d'orientation précise.At the end of this operation, the control circuit 3 controls the transfer device 5 so that it transfers the 12g slate in the control device 6, in a precise orientation position.

    Le dispositif de contrôle 6 comprend une table de réception 61 sur laquelle est déposée l'ardoise 12g par le dispositif de transfert 5 ainsi qu'un analyseur optique 62 formé d'un émetteur 62E et d'un récepteur 62R. L'émetteur fournit un faisceau mince tel qu'un faisceau laser pour balayer l'ardoise 12g et le récepteur 62R reçoit les images de balayage de l'ardoise 12g et en donne un signal d'analyse S2 transmis au circuit de traitement et de commande 3. Celui-ci établit le contour réel de l'ardoise 12g et le compare au contour de consigne ayant servi à la réalisation de l'ardoise dans le dispositif de rondissage 4. Comme le dispositif de rondissage peut éventuellement provoquer un éclatement local, ce type de défaut est détecté par le circuit de contrôle 6.The control device 6 comprises a table receipt 61 on which the 12g slate is deposited by the transfer device 5 and an optical analyzer 62 formed by a transmitter 62E and a receiver 62R. The transmitter provides a thin beam such as a laser beam to scan the 12g slate and the 62R receiver receives the images from scan the 12g slate and give an S2 analysis signal transmitted to the processing and control circuit 3. This establishes the actual outline of the 12g slate and compares it to set outline used to make the slate in the rounding device 4. As the rounding may possibly cause local bursting, this type of fault is detected by the control circuit 6.

    Le dispositif de contrôle 6 comporte également un moyen de transfert 63 qui déplace le plateau 61 de la position de contrôle dans une position d'enlèvement 61E, représentée en pointillés. Dans cette position, l'ardoise peut être prélevée par un troisième dispositif de transfert 7. Ce dispositif de transfert 7 est de préférence un robot comprenant une colonne 71 portant un bras 72 muni d'une tête 73 à ventouses. Ce dispositif 7 est également piloté par le circuit de traitement et de commande 3 qui en assure la commande sychronisée sur les opérations en amont et le passage de l'ardoise 12g vers l'une des sorties F1, F2, F3... suivant la nature et/ou la qualité de l'ardoise 12g réalisée.The control device 6 also includes a transfer means 63 which moves the plate 61 from the position control in a removal position 61E, shown with dots. In this position, the slate can be picked up by a third transfer device 7. This transfer device 7 is preferably a robot comprising a column 71 carrying an arm 72 provided with a head 73 to suction cups. This device 7 is also controlled by the circuit processing and control 3 which controls it synchronized with upstream operations and the passage of 12g slate to one of the F1, F2, F3 ... outputs nature and / or quality of the 12g slate produced.

    Le procédé et l'installation de fabrication automatique d'ardoises décrits ci-dessus seront explicités ci-après.The automatic manufacturing process and installation of slates described above will be explained below.

    La figure 2A montre la forme d'un fendi 12m dont un côté 12mC1 est droit car résultant du sciage du bloc dont est issu le fendi 12m ; les autres côtés 12mC2, 12mC3, 12mC4 ont une forme arrondie plus ou moins régulière.Figure 2A shows the shape of a 12m fendi with a 12mC1 side is straight because resulting from the sawing of the block, comes the fendi 12m; the other sides 12mC2, 12mC3, 12mC4 have a more or less regular rounded shape.

    Dans le contour du fendi 12m, on a inscrit une ardoise rectangulaire 12ma, (hachurée). Il s'agit par exemple de la forme rectangulaire la plus grande qui puisse s'inscrire dans ce contour. Toutefois, d'autres formes sont également envisageables en fonction de la demande du marché et la forme de l'ardoise 12ma n'est pas nécessairement la forme la plus grande qui puisse s'inscrire dans le contour du fendi.In the outline of the fendi 12m, we wrote a 12m rectangular slate, (hatched). For example, the largest rectangular shape that can fit into this outline. However, other forms are also possible depending on market demand and the shape of the 12ma slate is not necessarily the largest shape that can fit into the outline of the fendi.

    La figure 2B montre une autre forme de fendi 12n ayant également un côté 12nC1, droit, résultant du sciage et deux côtés 12nC2, 12nC3, irréguliers. Dans ce fendi 12n on a représenté le tracé d'une ardoise dite « écaille » (schuppen) ayant deux côtés droits et un côté arrondi.Figure 2B shows another form of fendi 12n also having a straight 12nC1 side, resulting from sawing and two sides 12nC2, 12nC3, irregular. In this fendi 12n we have depicted the layout of a so-called “tortoise shell” (schuppen) having two straight sides and a rounded side.

    De multiples autres formes d'ardoises sont envisageables. Ces différentes formes d'ardoises constituent une bibliothèque de formes enregistrées dans le circuit de traitement et de commande 3 et elles sont sélectionnées soit automatiquement par ce circuit pour optimiser l'utilisation de chaque fendi, soit par l'opérateur en fonction des besoins en ardoises.Many other forms of slate are possible. These different forms of slate constitute a library of shapes saved in the processing circuit and control 3 and they are selected either automatically by this circuit to optimize the use of each fendi, either by the operator according to the needs in slates.

    La figure 3 montre schématiquement le dispositif d'analyse de forme 2 comprenant la surface de réception en forme de table à rouleaux ou transrouleur 21 monté sur un dispositif relevable schématisé par des tringles en ciseaux 23 mais qui peut être n'importe quel dispositif à crémaillère ou à vérin mécanique ou électrique, voire pneumatique.Figure 3 shows schematically the device form 2 analysis including the receiving surface in form of roller table or conveyor 21 mounted on a lifting device shown schematically by scissor rods 23 but which can be any rack and pinion device or with mechanical or electric actuator, or even pneumatic.

    Le transrouleur 21 est muni d'un bord 210 formant un côté de référence, par exemple pour les fendis ayant un côté droit résultant du sciage.The conveyor 21 is provided with an edge 210 forming a reference side, for example for slits having a right side resulting from sawing.

    L'émetteur 22E est montré pivotant. Cet émetteur peut être commandé en rotation par un moteur 220E qui en assure le pivotement dans le sens de la flèche incurvée ainsi que le basculement transversal pour tracer les lignes de balayage.The transmitter 22E is shown pivoting. This transmitter can be controlled in rotation by a 220E motor which ensures pivoting in the direction of the curved arrow as well as the transverse tilt to draw the scan lines.

    Le récepteur 22R est de préférence fixe. Il couvre une surface supérieure à la plus grande surface possible d'un fendi à analyser et reçoit à chaque fois l'image d'une trace d'analyse de l'émetteur 22E.The receiver 22R is preferably fixed. He covers an area larger than the largest possible area of a fendi to be analyzed and each time receives the image of a trace of analysis of the transmitter 22E.

    Le fendi 12f, du dessus de la pile de fendis 12 portée par le transrouleur 21, se trouve à une hauteur de référence H0. Cette hauteur de référence peut être définie par un palpeur mécanique qui asservit le mécanisme de relevage 23 ou par un détecteur à infrarouge, placé au-dessus de la pile de fendis 12.The fendi 12f, from above the pile of fendis 12 carried by the conveyor 21, is at a reference height H0. This reference height can be defined by a mechanical probe which controls the lifting mechanism 23 or by an infrared detector, placed above the battery of cleavings 12.

    Cette position définie, identique pour tous les fendis à détecter, est avantageusement choisie pour que le dispositif d'analyse de forme 2 puisse fournir non seulement une image du contour du fendi à une homothétie près mais une image exacte de la taille du fendi et définir le contour de consigne de l'ardoise à tailler dans ce fendi 12f.This defined position, identical for all splits to be detected, is advantageously chosen so that the form 2 analysis device can provide not only an image of the outline of the fendi except for a homothety but a exact image of the size of the fendi and define the outline of instructions for slate to be cut in this fendi 12f.

    Sans cette position de référence définie par le plan d'analyse du fendi, il faudrait munir la vision artificielle d'un système complexe de focale variable et asservir le système d'éclairage à la cote variable du fendi. Cette solution a été envisagée puis écartée.Without this reference position defined by the fendi analysis plan, you should have artificial vision of a complex system of variable focal length and enslave the fendi variable dimension lighting system. This solution was considered and then discarded.

    La figure 4A montre dans un système de coordonnées (OX, OY), les traces du balayage transversal du fendi 12f. Ces traces portent la référence yi, associée à la coordonnée de chaque ligne de balayage suivant l'axe Y. Cette trace de balayage permet de définir la coordonnée xi de la ligne de balayage yi selon l'axe OX et par cumul des points (xi, yi), le tracé du contour Ci du fendi 12f. La figure 4A, comme les figures précédentes, montre un fendi 12f avec un côté droit de sciage aligné sur l'axe OY.Figure 4A shows in a coordinate system (OX, OY), traces of the transverse scan of the fendi 12f. These traces carry the reference yi, associated with the coordinate of each scan line along the Y axis. scan trace allows to define the xi coordinate of the scan line yi along the OX axis and by cumulative points (xi, yi), the outline of the outline Ci of the fendi 12f. Figure 4A, like the previous figures, shows a fendi 12f with a right side of sawing aligned with the OY axis.

    Le récepteur 22R reçoit l'image de la ligne yi sur le fendi. Cette ligne est droite à la surface du fendi et du fait de l'épaisseur du fendi et de l'inclinaison du faisceau émis par l'émetteur 22E, cette ligne est déformée aux extrémités du fendi. Chaque ligne Yi présente deux points de discontinuité d'abscisses qui voient l'image des bords du fendi. Leur interpolation entre ces points constitue le contour du fendi.The 22R receiver receives the image of the yi line on the fendi. This line is straight on the surface of the fendi and due to the thickness of the fendi and the inclination of the beam emitted by the 22E transmitter, this line is distorted at ends of the fendi. Each Yi line has two points of discontinuity of abscissas who see the image of the edges of the fendi. Their interpolation between these points is the outline of the fendi.

    En général, le côté gauche du fendi est aligné sur un repère à plus ou moins dix degrés, si bien que tous les premiers points de discontinuité des lignes yi sont alignés et correspondent pour leur abscisse à l'origine O des coordonnées.In general, the left side of the fendi is aligned on a mark at more or less ten degrees, so that all the first discontinuity points of the lines yi are aligned and correspond for their abscissa to the origin O of contact information.

    Cette détection est extrêmement rapide et elle se fait en temps masqué, pendant la réalisation du contour de l'ardoise du fendi précédent dans le dispositif de rondissage 4.This detection is extremely fast and it takes done in masked time, during the realization of the contour of the slate from the previous fendi in the rounding device 4.

    Les figures 5A, 5B montrent un exemple de dispositif de rondissage 4. Ce dispositif se compose d'un outil de découpe 41 et d'un outil de rondissage 42, les deux montés coaxialement sur le même axe 43 d'un moteur électrique 44. Le disque de l'outil de rondissage 42 est un disque à dents tel un disque de scie alors que l'outil de découpe 41 se compose de bras radiaux 411 portant des masselottes 412. Ces masselottes frappent le fendi pour le casser selon un tracé situé au-delà du tracé définitif de l'ardoise ; ce dernier est réalisé par l'outil de rondissage 42 qui assure en même temps le tracé définitif et le rondissage.Figures 5A, 5B show an example of a device 4. This device consists of a cutout 41 and a rounding tool 42, both mounted coaxially on the same axis 43 of an electric motor 44. The disc of the rounding tool 42 is a toothed disc such a saw disc while the cutting tool 41 is composed of radial arms 411 carrying weights 412. These weights strike the fendi to break it along a line located beyond the final outline of the slate; the latter is achieved by the rounding tool 42 which at the same time ensures the final layout and rounding.

    Le fendi 12dr en cours de traitement dans le dispositif 4 est soutenu au niveau de la ligne d'action (LA) de l'outil de rondissage ou de grignotage 42 par un support en forme de disque 45, libre en rotation qui, en assurant un contact relativement ponctuel avec la face inférieure du fendi, participe à la qualité de l'épaufrure (biseau donné au fendi par la machine à rondir).The fendi 12dr being processed in the device 4 is supported at the line of action (LA) of the rounding or nibbling tool 42 by a support in disc shape 45, free in rotation which, by ensuring a relatively punctual contact with the underside of the fendi, contributes to the quality of the spall (bevel given to split by the rounding machine).

    Sous les outils de découpe 41 et de grignotage 42 se trouve un transporteur 46 pour l'évacuation des débris. Le dispositif 4 est également couvert par un capot 47 de protection contre les projections et formant hotte pour l'aspiration des poussières et l'isolation phonique.Under the cutting 41 and nibbling 42 tools there is a conveyor 46 for removing debris. The device 4 is also covered by a protective cover 47 against projections and forming hood for dust extraction and sound insulation.

    La figure 5B montre de manière plus détaillée le travail du dispositif de rondissage 4 sur un fendi 12dr, tenu par la ventouse 53 du bras 52 du premier dispositif de transfert 5. Comme déjà indiqué, le dispositif de transfert 5 tient le fendi 12dr pendant toute l'opération de découpe et de rondissage et le présente de façon appropriée pour le guider pendant cette opération, les outils de découpe 41 et de rondissage 42 étant fixes. L'outil de découpe 41 (figure 5B) dégrossit la forme du fendi en enlevant la partie la plus importante correspondant à la bande z1, ne laissant subsister qu'une mince bande z2 au-delà du contour 12dr1 que l'on veut donner à cet endroit à l'ardoise. L'outil de découpe 41 frappe la partie du fendi dans la bande z1 pour en casser les gros morceaux. La bande z2 est une zone de protection pour éviter que des fissures, qui pourraient se produire dans la bande z1 du fendi, ne se propagent au-delà du contour définitif 12dr1.Figure 5B shows in more detail the work of the rolling device 4 on a fendi 12dr, held by the suction cup 53 of the arm 52 of the first transfer device 5. As already indicated, the transfer device 5 holds the fendi 12dr during the entire cutting operation and and presents it appropriately to guide it during this operation, the cutting tools 41 and rounding 42 being fixed. The cutting tool 41 (Figure 5B) roughs the shape of the fendi by removing the most important part corresponding to the band z1, leaving no subsistence that a thin strip z2 beyond the 12dr1 contour that we want give this place to the slate. The cutting tool 41 strike the part of the fendi in the z1 strip to break the large pieces. Band z2 is a protection zone for avoid any cracks, which could occur in the zend band of the fendi, does not propagate beyond the final contour 12dr1.

    Le rondissage est réalisé par l'outil de rondissage 42 qui est en fait une grignoteuse ; celle-ci travaille de manière beaucoup plus fine et moins brutale, aussi, en progressant, cet outil 42 ne risque-t-il pas de créer des fissures se propageant au-delà de la ligne 12dr1, vers l'intérieur de l'ardoise, le support 45 interdisant cette propagation.The rounding is carried out by the rounding tool 42 which is in fact a nibbler; this one works in a much finer and less brutal way, too, in progressing, does this tool 42 not risk creating cracks propagating beyond the line 12dr1, towards inside the slate, the support 45 prohibiting this spread.

    Comme les opérations à effectuer par les outils 41, 42 sont en quelque sorte parallèles, il est particulièrement intéressant de monter ces deux outils sur le même axe 43 entraíné par le moteur 44.As the operations to be carried out by the tools 41, 42 are sort of parallel, it's particularly interesting to mount these two tools on the same axis 43 driven by motor 44.

    Le vecteur Vi tracé sur la ventouse 53 du dispositif de transfert 5 montre que le fendi 12dr est orienté de manière précise.The vector Vi plotted on the suction cup 53 of the device transfer 5 shows that the fendi 12dr is oriented precisely.

    Selon la direction de découpe et de rondissage, le fendi 12dr est déplacé dans la direction AR.Depending on the direction of cutting and rounding, the fendi 12dr is moved in the AR direction.

    La figure 6 montre un exemple d'installation de fabrication automatique d'ardoises selon l'invention. Cette installation se compose des mêmes éléments que ceux déjà décrits ci-dessus qui portent les mêmes références. Les différences seront évoquées ci-après de manière plus détaillée alors que les parties communes seront simplement citées.Figure 6 shows an example of installation of automatic production of slates according to the invention. This installation consists of the same elements as those already described above which bear the same references. The differences will be discussed below in more detail while the common parts will simply be cited.

    Dans cette installation, le convoyeur d'entrée 1, assurant le stockage, est précédé d'un convoyeur à rouleaux 101, alimenté à partir d'une machine automatique à tiercer 9 ou à partir d'une machine de fente manuelle 91. La machine à tiercer 9 est par exemple réalisée comme celle représentée aux figures 9 et 10 et sa description sera faite ultérieurement.In this installation, the input conveyor 1, ensuring storage, is preceded by a roller conveyor 101, powered from an automatic tiering machine 9 or from a manual slitting machine 91. The tiercer 9 is for example made like the one shown Figures 9 and 10 and its description will be made later.

    La machine de fente semi-automatique 91, ou machine manuelle, reçoit des jets ou des doubles jets pour les refendre à la main. Une telle machine est connue en soi et ne nécessite pas de description détaillée. Elle travaille en général par dépression et impaction. Cependant, les ventouses de traction ont été spécialement modifiées pour cette application, qui consiste à refendre des fendis de forme quelconque alors que tous les fendis traités jusqu'à présent par de telles machines sont des fendis rectangulaires. La forme globale des ventouses a été réduite pour pouvoir se fixer sur des fendis de forme quelconque, même réduite. The semi-automatic slitting machine 91, or machine manual, receives jets or double jets for hand split. Such a machine is known per se and does not no detailed description required. She generally works by depression and impaction. However, the suction cups have been specially modified for this application, which consists in splitting slits of any shape whereas all the fendis treated so far by de such machines are rectangular slits. The overall shape suction cups has been reduced to be able to attach to splits of any shape, even reduced.

    Les fendis obtenus dans cette machine 91 sont déposés sur un plateau d'une table de translation 102 qui insère les piles de fendis chargées sur les plateaux dans le convoyeur 1.The slits obtained in this machine 91 are deposited on a tray of a translation table 102 which inserts the piles of fendis loaded on the trays in the conveyor 1.

    La figure montre les différents segments du convoyeur 1 entraíné par des moteurs 103.The figure shows the different segments of the conveyor 1 driven by motors 103.

    A l'extrémité gauche de ce convoyeur 1 se trouve le dispositif d'analyse de forme 2 qui ne sera pas détaillé ici. Le premier moyen de transfert 6 est simplement représenté par un cercle. Il alimente le dispositif de rondissage 4.At the left end of this conveyor 1 is the form 2 analysis device which will not be detailed here. The first transfer means 6 is simply shown by a circle. It supplies the rounding device 4.

    Sous le dispositif de rondissage passe le convoyeur 46 (voir figure 5A) qui évacue les déchets du dispositif 4. Ce convoyeur d'évacuation 46 passe également au niveau du poste de fente semi-automatique 91 et sous la machine à tiercer 9 pour en récupérer les débris. Ce convoyeur 46 débouche sur un convoyeur d'évacuation 200, débouchant dans une benne non représentée.Under the rolling device passes the conveyor 46 (see FIG. 5A) which discharges the waste from the device 4. This evacuation conveyor 46 also passes at the level of the semi-automatic slitting station 91 and under the tiercer 9 to recover debris. This conveyor 46 opens on an evacuation conveyor 200, opening into a bucket not shown.

    Le premier moyen de transfert 6 dépose les ardoises sur la table 63 d'où le troisième moyen de transfert 7, également schématisé simplement par un cercle, prend les ardoises pour les faire passer soit vers l'évacuation de rejet F5 qui ramène les produits rejetés vers l'entrée au niveau du poste semi-automatique 91 pour effectuer un éventuel traitement manuel pour récupérer une ardoise dans un fendi ayant un défaut. Le troisième moyen de transfert 7 fait également passer les ardoises en fonction du classement réalisé par le circuit de traitement du dispositif de contrôle non représenté, vers les sorties F1, F2, F3, F4... correspondant aux différents types d'ardoises à fabriquer. Ensuite les ardoises sont récupérées pour être conditionnées.The first transfer means 6 deposits the slates on table 63 hence the third transfer means 7, also schematized simply by a circle, takes the slates to pass them either to the discharge discharge F5 which brings rejected products back to the entry level semi-automatic station 91 to carry out any treatment manual to recover a slate in a fendi having a default. The third transfer means 7 also passes slates according to the classification carried out by the processing circuit of the control device not shown, to outputs F1, F2, F3, F4 ... corresponding to the different types of slate to make. Then the slates are recovered to be packaged.

    Cette installation comprend un circuit de traitement et de commande 3 subdivisé en cinq parties comprenant :

    • une première partie 31 qui correspond au traitement de l'analyse de forme du fendi (22E et 22R, figurer 3) et au contrôle du produit fini après rondissage
    • une partie 32 qui correspond au contrôle du premier dispositif de transfert (réf. 5, figures 5B et 5A) et à la maítrise des trajectoires de rondissage,
    • une partie correspondant au contrôle du 3ème dispositif de transfert et à la maítrise des trajectoires de poinçonnage (réf. 7 et 8, figure 6) et de stockage,
    • une partie qui coordonne et cadence les différentes opérations pour maítriser les enchaínements automatiques,
    • une partie de supervision qui sert d'interface à l'opérateur et permet de programmer la production.
    This installation includes a processing and control circuit 3 subdivided into five parts comprising:
    • a first part 31 which corresponds to the processing of the fendi shape analysis (22E and 22R, figure 3) and to the control of the finished product after rounding
    • a part 32 which corresponds to the control of the first transfer device (ref. 5, FIGS. 5B and 5A) and to the control of the rolling trajectories,
    • a control portion corresponding to the 3 rd transfer device and to the control of punch trajectories (ref. 7 and 8, Figure 6) and storage,
    • a part which coordinates and cadences the various operations to control the automatic sequences,
    • a supervisory part which acts as an interface for the operator and allows programming of production.

    Enfin, l'installation comprend une armoire de puissance 300 pour les différents circuits électriques.Finally, the installation includes a cabinet power 300 for the various electrical circuits.

    La vue en coupe de la figure 7 montre plus particulièrement le convoyeur d'entrée 1 et ses différents moteurs 103 ainsi que le dispositif d'analyse de forme 2 avec le plateau élévateur de fendis. Le convoyeur à déchets 46 est représenté. Il débouche sur le convoyeur d'évacuation 200, logé à cet endroit dans une fausse 201 pour que le convoyeur à déchets 46 puisse circuler en position horizontale, au-dessus du sol de l'atelier.The sectional view of Figure 7 shows more particularly the input conveyor 1 and its various motors 103 as well as the form 2 analysis device with the plate cleavage elevator. The waste conveyor 46 is shown. It leads to the evacuation conveyor 200, housed at this location in a false 201 so that the waste conveyor 46 can travel in a horizontal position, above from the workshop floor.

    Le convoyeur d'évacuation 200 est en fait incliné. Il sort de la fausse 201 pour remonter au-dessus d'une benne.The evacuation conveyor 200 is in fact inclined. He comes out of false 201 to rise above a dumpster.

    La figure 8 est une vue de côté du dispositif d'analyse de forme montrant le plateau 21 et le dispositif élévateur. Le plateau 21 est porté par une console 211 montée sur une colonne de guidage 212, l'ensemble étant actionné par un vérin à vis commandé par un moteur électrique 213.Figure 8 is a side view of the device of shape analysis showing the plate 21 and the device elevator. The plate 21 is carried by a console 211 mounted on a guide column 212, the assembly being actuated by a screw jack controlled by an electric motor 213.

    Les figures 9 et 10 montrent un exemple de réalisation d'une machine à tiercer 9. Elle est destinée à fonctionner automatiquement pour tiercer des blocs d'ardoise préalablement écroûtés et ayant au moins une face sciée. La machine comprend deux parties, un système de fente 92 et un système de maintien du bloc 93. Le système de fente comprend un vérin à impact 921 portant un ciseau de fente 922, l'ensemble étant monté sur un plateau 923 animé d'un déplacement vertical défini. Le ciseau de fente 922 horizontal est associé à un bouclier vertical 924 contre lequel est poussée la face sciée du bloc à tiercer, non représenté. Le tierçage commence par le haut et à chaque opération le plateau 923 porté par des colonnes 925, descend d'un cran. Le mouvement vertical du plateau 923 est assuré par une vis à billes, entraínée par un moteur sans balai. Les autres parties de l'installation, en amont, notamment les scies pour débiter les blocs, ne sont pas décrites de manière détaillée.Figures 9 and 10 show an exemplary embodiment a tiercer 9. It is intended to operate automatically to tier slate blocks previously peeled and having at least one sawn side. The machine has two parts, a 92 slot system and a block 93 holding system. The slot system includes an impact cylinder 921 carrying a slot chisel 922, the assembly being mounted on a plate 923 animated by a displacement vertical defined. The horizontal 922 slot chisel is associated with a vertical shield 924 against which is pushed the sawn face of the block to be tiered, not shown. Tiering starts from the top and with each operation the tray 923 carried by columns 925, descends one notch. Movement vertical of the plate 923 is ensured by a ball screw, driven by a brushless motor. The other parts of installation, upstream, in particular saws for cutting the blocks are not described in detail.

    Pendant toute cette opération, le bloc posé sur un chemin à rouleaux 932 est tenu par le système de maintien 93 formé d'un ensemble de vérins 931 (figure 10) indépendants, qui poussent le bloc vers l'avant, avec sa face sciée en appui contre le bouclier 924. Cette machine est pilotée par l'automate de la partie du circuit de traitement et de commande.During this whole operation, the block placed on a roller track 932 is held by the holding system 93 formed of a set of independent cylinders 931 (FIG. 10), pushing the block forward, with its sawn face resting against the shield 924. This machine is controlled by the automaton of the part of the processing circuit and ordered.

    La machine à tiercer 9 reçoit un bloc de schiste, écroûté et scié. Ce bloc est présenté horizontalement ; il repose sur son plan de fissilité. Après sa mise en place, les vérins 931 le bloquent contre le bouclier 924 qui s'est placé à la hauteur appropriée pour faire la première fente. Ensuite, le serrage par les vérins 931 est libéré puis le plateau descend d'un pas pour fendre le jet ou le double jet suivant. Cette machine débite un bloc à la minute en jet simple, soit un jet toutes les deux secondes.The tiercer 9 receives a shale block, peeled and sawn. This block is presented horizontally; he rests on its fissility plane. After its installation, the cylinders 931 block it against the shield 924 which is placed at the proper height to make the first slit. Then, the clamping by the cylinders 931 is released then the plate step down to split the throw or double throw next. This machine delivers a block per minute in a single jet, or a jet every two seconds.

    Le positionnement du bloc se fait à la main ou automatiquement en asservissant le transrouleur support à un dispositif de positionnement du bloc au début des opérations, et la hauteur du bloc est repérée par la détection du plan de fissilité supérieur. Ensuite, le fonctionnement de la machine à tiercer se fait de manière automatique.The positioning of the block is done by hand or automatically by slaving the support conveyor to a block positioning device at the start of operations, and the height of the block is identified by the detection of the higher fissile plane. Then the operation of the tiercer machine is done automatically.

    Claims (13)

    1. Method of automatically producing slates from pieces cut from small blocks constituting waste debris from a traditional manufacturing process, in which
      the shape of each piece is automatically analysed to define its contour,
      a reference contour is assigned to each piece, representing the best slate which can be obtained from this piece,
      the rough contour of the slate is cut, leaving a protective strip beyond the reference contour of the slate, after which the definitive contour is cut and the periphery rounded,
      the resultant slate is inspected by comparing it with the reference contour,
      the slate is then categorised depending on the result of the inspection.
    2. Method as claimed in claim 1,
      characterised in that
      the shape is analysed by optically scanning the piece and processing the scan signal.
    3. Method as claimed in claim 2,
      characterised in that
      the piece is optically scanned with a light source emitting a light beam, by means of which the surface of the piece is scanned.
    4. Method as claimed in claim 2,
      characterised in that
      the piece is scanned by projecting a network of parallel lines onto it.
    5. Production installation for automatically producing slates from pieces cut from blocks constituting waste debris from a traditional production process, comprising:
      A) a shape analysing device (2) with
      a surface for receiving the piece (21),
      an optical analyser (22) which detects the contour of the piece (12f),
      a processing and control circuit (3) which
      receives the signals (S1) from the analyser and defines the contour of the piece,
      determines the type of slate which can be made from this piece, and
      records this data and the oriented position of the piece (12f),
      B) a rounding device (4)
      downstream of the shape analysing device comprising
      a cutting element (41) for cutting the rough contour of the slate depending on the reference contour defined by the processing circuit (3) of the shape analysing device,
      a power nibbler which nibbles and rounds the slate blank to obtain a slate and processes the piece downstream of the cutting element,
      C) an inspection device (6), downstream of the rounding device (4), comprising
      an optical analyser (62) for analysing the resultant slate (12g) and generating an analysis signal (S2),
      a processing circuit which
      receives the analysis signal and compares it with a reference signal corresponding to the reference shape of the slate type defined by the shape analysing device (2),
      categorises the slate depending on the result of this comparison (F1, F2, F3),
      D) a conveyor system, comprising
      a first conveyor means (5) between the shape analysing device (2) and the rounding device (4),
      which conveys the piece (12f) into the analysis device (2) in order to present it to the cutting element (41) and the power nibbler (42) of the rounding device (4), holding and guiding the piece during this operation, and then placing the slate (12g) in the inspection device (6) in a specific oriented position on leaving the rounding process,
      a control circuit of the first conveyor means (5) which controls the motions of the latter as it picks up the piece, holds the piece in the rounding device, monitoring the trajectory depending on the shape to be imparted to the slate, and deposits the slate in an oriented position in the inspection device,
      a second conveyor means constituting the receiving surface (63) of the inspection means which receives the slate for the inspection analysis and transfers it to a third conveyor means (7),
      a control circuit of this second conveyor means operated as a function of the movement of the first conveyor means, ensuring that the slate is displaced in a defined oriented position,
      a third conveyor means (7) between the inspection device (6) and the discharge, picking the slate up from the second conveyor means to transfer it to the discharge on a selective basis depending on the results of the inspection.
    6. Installation as claimed in claim 5,
      characterised in that
      the optical analyser (22) comprises:
      an emitter (22R) with a light beam source, the purpose of which is to scan the surface of the piece (12f),
      a receiver (22R) receiving the scan signal plotted by the emitter on the piece and supplying the process and control circuit (3) with a detection signal (S1).
    7. Installation as claimed in claim 6,
      characterised in that
      the emitter (22R) emitting a light beam is mounted on an oscillating support (220E), which controls transverse scanning.
    8. Installation as claimed in claim 5,
      characterised in that
      the rounding device (4) comprises:
      a cutting tool (42) incorporating rotating hammers (422) mounted on a shaft (43) driven by a motor (44), the cutting tool (42) detaching a broad zone (z1) of the piece beyond a protective narrow strip (z2) externally bordering the side (12dr1) of the slate currently in the process of being made,
      a rounding tool (41) in the form of a disc with teeth for removing the narrow strip (z2) left by the cutting tool (42) and at the same time rounding the corresponding side of the slate, this narrow strip (z2) being removed by the rounding tool (41).
      a mobile support (45) comprising the disc follower disposed on a level with the line of action of the rounding tool (41), underneath the piece, to support the edge of the piece during the nibbling process.
    9. Installation as claimed in claim 5,
      characterised in that
      the inspection optical analyser (62) has an emitter (62E) emitting a light beam for scanning the slate (12a) and an optical receiver (62R) receiving the scanned image in order to supply the processing and control circuit (3) with a detection signal (S2).
    10. Installation as claimed in claim 5,
      characterised in that
      the first and third conveyor means (5, 7) comprise a robot with a column (51, 71) bearing an arm (52, 72) terminated by a sucker (53, 73), the position and orientation of which are defined so that the operating radii of the two robots do not intersect.
    11. Installation as claimed in claim 5,
      characterised in that
      the second conveyor means (63) is a plate (61) which is mobile in translation.
    12. Installation as claimed in claim 5,
      characterised in that
      it has a drilling device for making nail holes at defined points in the slates (12a).
    13. Installation as claimed in claim 5,
      characterised in that
      the input (1) for the pieces is equipped with a sorting machine.
    EP00402869A 1999-10-19 2000-10-17 Process and installation for automatic production of slate out of slate debris Expired - Lifetime EP1093899B1 (en)

    Applications Claiming Priority (2)

    Application Number Priority Date Filing Date Title
    FR9913014A FR2799683B1 (en) 1999-10-19 1999-10-19 METHOD AND PLANT FOR THE AUTOMATIC MANUFACTURE OF SLATES FROM FENDIS
    FR9913014 1999-10-19

    Publications (2)

    Publication Number Publication Date
    EP1093899A1 EP1093899A1 (en) 2001-04-25
    EP1093899B1 true EP1093899B1 (en) 2004-05-12

    Family

    ID=9551089

    Family Applications (1)

    Application Number Title Priority Date Filing Date
    EP00402869A Expired - Lifetime EP1093899B1 (en) 1999-10-19 2000-10-17 Process and installation for automatic production of slate out of slate debris

    Country Status (5)

    Country Link
    EP (1) EP1093899B1 (en)
    AT (1) ATE266511T1 (en)
    DE (1) DE60010619D1 (en)
    ES (1) ES2220364T3 (en)
    FR (1) FR2799683B1 (en)

    Families Citing this family (4)

    * Cited by examiner, † Cited by third party
    Publication number Priority date Publication date Assignee Title
    DE10236583B3 (en) * 2002-08-08 2004-02-05 Schiefergruben Magog Gmbh & Co. Kg Automatic computer-assisted roof slate dressing method, uses measurement of roof slate in relation to defined fixing point for controlling contour machining for obtaining required roof slate format
    US7854097B2 (en) 2004-01-16 2010-12-21 Jeld-Wen, Inc. Simulated divided light products and processes and systems for making such products
    US7640073B2 (en) 2005-04-14 2009-12-29 Jeld-Wen, Inc. Systems and methods of identifying and manipulating objects
    EP3040172B1 (en) * 2014-12-05 2022-09-21 Remo Pisetta Plant and process for the processing of a block

    Family Cites Families (4)

    * Cited by examiner, † Cited by third party
    Publication number Priority date Publication date Assignee Title
    US4221974A (en) * 1979-02-02 1980-09-09 The Bendix Corporation Lumber inspection and optimization system
    FR2585982B1 (en) * 1985-08-06 1988-07-15 Angers Ardoisieres INSTALLATION FOR MANUFACTURING SLATE PRODUCTS, SUCH AS SLATES, COATING OR DECORATIVE ELEMENTS
    ES1001589Y (en) * 1987-02-10 1989-01-01 Rathscheck Pizarras, S.A. (Rapida) CUTTING DEVICE TO PREPARE THE EDGES OF SLATE PIECES
    DE4102721A1 (en) * 1991-01-30 1992-08-06 Rosenthal Ag METHOD AND DEVICE FOR GENERATING A TARGET CONTOUR ON A WORKPIECE

    Also Published As

    Publication number Publication date
    DE60010619D1 (en) 2004-06-17
    EP1093899A1 (en) 2001-04-25
    ATE266511T1 (en) 2004-05-15
    FR2799683A1 (en) 2001-04-20
    FR2799683B1 (en) 2001-12-07
    ES2220364T3 (en) 2004-12-16

    Similar Documents

    Publication Publication Date Title
    EP3049794B1 (en) Inspection method and inspection line for tyres
    CA1246427A (en) Manufacture of grooved or profiled slats such as for blinds, carpentry or building moldings, and device used in the manufacturing process
    KR101396915B1 (en) Method and apparatus for dividing brittle material
    EP2552812A1 (en) Method and device for transferring cutouts for packaging boxes
    WO2000078512A1 (en) Method and installation for automatically cutting and removing stacks of pieces in a web of sheet material
    EP1093899B1 (en) Process and installation for automatic production of slate out of slate debris
    FR2587318A1 (en) METHOD AND MACHINE FOR MANUFACTURING HOLLOW REVOLUTION PIECES FORMED OF THREADS THROUGH THREE THREE DIFFERENT DIRECTIONS.
    EP0202133A1 (en) Apparatus for trimming the ends of products
    FR2748413A3 (en) Machine for cutting wood panels
    JP5381046B2 (en) Semiconductor wafer scribing apparatus and scribing system including the same
    US20050274434A1 (en) Log positioning apparatus and associated method
    EP2589474A1 (en) Automated method for inserting insulating bodies in the cells of building blocks, and automatic insertion line for implementing same
    FR3078499A1 (en) MERRAIN TRAINING MACHINE
    FR2576528A1 (en) Processing method for the separating of objects
    FR2651163A1 (en) DEVICE FOR RECEIVING AND TRANSFERRING PARTS AT THE EXIT OF A CHAINSAW.
    EP0912305B1 (en) Method and installation for cask wood production
    FR2611586A1 (en) DEVICE FOR THE ASSEMBLY OF CUTTERS IN PARTICULAR FOR THE PRODUCTION OF PACKAGINGS
    EP2772143B1 (en) Method and installation for coring adult heads of lettuce
    EP1232818A1 (en) Process and device for cutting logs
    EP1258306A2 (en) System for detecting size unevennesses of cut-stock boards
    FR2990373A1 (en) Sawing equipment for sawing logs to manufacture boards, has shaping disks to place longitudinal notches on log supported by carriage, and sawing unit to cut log according to cut plane extending parallel to displacement direction of carriage
    CA1144352A (en) Method and apparatus for the construction of seats for wooden chairs
    FR2975321A1 (en) Method for manufacturing identical parts mounted around axis of aircraft turbine to guide e.g. gas flow in laminar circulation in turbo-compressor, involves adjusting weight of parts by polishing smooth faces of parts by surface machining
    FR2560808A1 (en) Method for optimising the wood output in sawing trunks along their length, and sawing installation implementing this method
    FR2828828A1 (en) Wood quarter saw optimization method comprises subjecting each quarter to geometric characteristics acquisition phase, software optimization phase for obtaining blocks, positioning and reference phase machining phases

    Legal Events

    Date Code Title Description
    PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

    Free format text: ORIGINAL CODE: 0009012

    AK Designated contracting states

    Kind code of ref document: A1

    Designated state(s): AT BE CH CY DE DK ES FI GB GR IE IT LI LU MC NL PT SE

    AX Request for extension of the european patent

    Free format text: AL;LT;LV;MK;RO;SI

    17P Request for examination filed

    Effective date: 20010924

    AKX Designation fees paid

    Free format text: AT BE CH CY DE DK ES FI GB GR IE IT LI LU MC NL PT SE

    RIN1 Information on inventor provided before grant (corrected)

    Inventor name: VEDIE, JACQUES JEAN

    GRAP Despatch of communication of intention to grant a patent

    Free format text: ORIGINAL CODE: EPIDOSNIGR1

    GRAS Grant fee paid

    Free format text: ORIGINAL CODE: EPIDOSNIGR3

    GRAA (expected) grant

    Free format text: ORIGINAL CODE: 0009210

    AK Designated contracting states

    Kind code of ref document: B1

    Designated state(s): AT BE CH CY DE DK ES FI GB GR IE IT LI LU MC NL PT SE

    PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

    Ref country code: IT

    Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT;WARNING: LAPSES OF ITALIAN PATENTS WITH EFFECTIVE DATE BEFORE 2007 MAY HAVE OCCURRED AT ANY TIME BEFORE 2007. THE CORRECT EFFECTIVE DATE MAY BE DIFFERENT FROM THE ONE RECORDED.

    Effective date: 20040512

    Ref country code: FI

    Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

    Effective date: 20040512

    Ref country code: IE

    Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

    Effective date: 20040512

    Ref country code: AT

    Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

    Effective date: 20040512

    Ref country code: NL

    Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

    Effective date: 20040512

    Ref country code: CY

    Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

    Effective date: 20040512

    Ref country code: GB

    Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

    Effective date: 20040512

    REG Reference to a national code

    Ref country code: GB

    Ref legal event code: FG4D

    Free format text: NOT ENGLISH

    REG Reference to a national code

    Ref country code: CH

    Ref legal event code: EP

    REG Reference to a national code

    Ref country code: IE

    Ref legal event code: FG4D

    Free format text: FRENCH

    REF Corresponds to:

    Ref document number: 60010619

    Country of ref document: DE

    Date of ref document: 20040617

    Kind code of ref document: P

    PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

    Ref country code: SE

    Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

    Effective date: 20040812

    Ref country code: GR

    Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

    Effective date: 20040812

    Ref country code: DK

    Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

    Effective date: 20040812

    PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

    Ref country code: DE

    Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

    Effective date: 20040813

    PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

    Ref country code: LU

    Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

    Effective date: 20041017

    PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

    Ref country code: CH

    Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

    Effective date: 20041031

    Ref country code: BE

    Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

    Effective date: 20041031

    Ref country code: LI

    Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

    Effective date: 20041031

    Ref country code: MC

    Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

    Effective date: 20041031

    NLV1 Nl: lapsed or annulled due to failure to fulfill the requirements of art. 29p and 29m of the patents act
    GBV Gb: ep patent (uk) treated as always having been void in accordance with gb section 77(7)/1977 [no translation filed]

    Effective date: 20040512

    REG Reference to a national code

    Ref country code: ES

    Ref legal event code: FG2A

    Ref document number: 2220364

    Country of ref document: ES

    Kind code of ref document: T3

    REG Reference to a national code

    Ref country code: IE

    Ref legal event code: FD4D

    PLBE No opposition filed within time limit

    Free format text: ORIGINAL CODE: 0009261

    STAA Information on the status of an ep patent application or granted ep patent

    Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

    BERE Be: lapsed

    Owner name: *SOVEMINE INGENIERIE

    Effective date: 20041031

    26N No opposition filed

    Effective date: 20050215

    REG Reference to a national code

    Ref country code: CH

    Ref legal event code: PL

    BERE Be: lapsed

    Owner name: *SOVEMINE INGENIERIE

    Effective date: 20041031

    PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

    Ref country code: PT

    Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

    Effective date: 20041012

    PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

    Ref country code: ES

    Payment date: 20091022

    Year of fee payment: 10

    REG Reference to a national code

    Ref country code: ES

    Ref legal event code: FD2A

    Effective date: 20111118

    PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

    Ref country code: ES

    Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

    Effective date: 20101018