EP0292490B1 - Gripping method and device for taking a flexible piece from a stack - Google Patents

Gripping method and device for taking a flexible piece from a stack Download PDF

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Publication number
EP0292490B1
EP0292490B1 EP19870901062 EP87901062A EP0292490B1 EP 0292490 B1 EP0292490 B1 EP 0292490B1 EP 19870901062 EP19870901062 EP 19870901062 EP 87901062 A EP87901062 A EP 87901062A EP 0292490 B1 EP0292490 B1 EP 0292490B1
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EP
European Patent Office
Prior art keywords
piece
hooking
support
zone
shoe
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Expired - Lifetime
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EP19870901062
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German (de)
French (fr)
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EP0292490A1 (en
Inventor
Michel Julien
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Institut Textile de France
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Institut Textile de France
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Publication of EP0292490A1 publication Critical patent/EP0292490A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H3/00—Separating articles from piles
    • B65H3/22—Separating articles from piles by needles or the like engaging the articles
    • A—HUMAN NECESSITIES
    • A41—WEARING APPAREL
    • A41H—APPLIANCES OR METHODS FOR MAKING CLOTHES, e.g. FOR DRESS-MAKING OR FOR TAILORING, NOT OTHERWISE PROVIDED FOR
    • A41H43/00—Other methods, machines or appliances
    • A41H43/02—Handling garment parts or blanks, e.g. feeding, piling, separating or reversing

Definitions

  • the present invention relates to the gripping of a flexible piece and having a certain elasticity, such as a textile fabric on a support, in particular a pile. It applies in particular in the field of garment automation where the parts to be assembled have been previously cut while they were in the form of batteries or mattresses. After the cutting operation, it is necessary to take the pieces one after the other from the stack and present them at the assembly station.
  • the upper part of the stack is generally clamped.
  • a roller covered with a rough surface is used as the hooking member, arranged so as to be able to perform a rotation of 180 ° or more during which the fabric can roll up over a large area around the periphery of the roll, so that it can then be transported with the roll when it moves.
  • This device has the particular disadvantage that it requires having a roller whose length exceeds that of the widest parts, which causes significant bulk.
  • the object of the invention is to propose a new process which largely overcomes the aforementioned drawbacks, and which is specially adapted for flexible pieces and having a certain elasticity, in particular knitting pieces.
  • the object of the invention is of the general type according to which the part is held on the support in a so-called holding zone, preferably situated at one end of the part, by applying a pressing member to this zone, it is applied to the part, in a zone remote from the holding zone, preferably along the opposite end of the part, a hooking member then, the hooking member is moved away from the support so as to remove the part from the support , the pressing member is raised and the part is removed from the support by directing it to the next station,
  • the attachment surface having a curved shape the displacement of the surface of the attachment member according to the third step of the method consists in a rotation of the surface of said member allowing both the application of the entire surface attachment on the part and the extension of said part.
  • the curved, and more particularly cylindrical, shape of the gripping surface is very advantageous in that it allows the part under extension to develop tension forces which press it against the surface and thereby increase the gripping. , because the penetration of rough projections into the fabric increases as well as friction.
  • the method of the invention differs in particular from the known methods by the fact that the removal of the textile piece is carried out in two very distinct phases: on the one hand, the temporary attachment phase of the piece, carried out by specific organs not causing degradation of the fabric; on the other hand, the actual displacement phase, carried out by others specific organs.
  • This dissociation leads to a simplification of the organs involved and their adjustment.
  • the specificity of the attachment members, and their provisional role makes it possible to envisage a non-aggressive attachment method, by roughness under extension, the extension requiring in the case of the invention only a relatively small displacement of the rough hooking surface. This small displacement makes it possible to design the attachment member in the form of one or more simple tilting pads, of reduced bulk.
  • the method according to the invention is advantageously implemented in a gripping device of the type comprising a support for at least one flexible part and having a certain elasticity, a pressing member matched with suitable means so that said member, from a high position where it is not in contact with the part, takes support on said part and maintains it on the support in a holding zone a fastening member intended to come into contact with the part in a zone called hooking opposite to the holding zone, said member being accompanied by displacement means making it possible to apply the member to the part and removing it from the support, and general displacement means making it possible to move the gripped part and direct it towards the next post.
  • the attachment member has a surface which has a roughness sufficient to allow the attachment of the piece in extension by friction, its displacement means are arranged to allow it to achieve the extension of the piece.
  • the device furthermore comprises two gripping means placed opposite one another along the two unsupported sides of the part and positioned above the plane of the part when the latter is in contact with the support. , said gripping means being accompanied by said general means of movement allowing them to approach the part taken and stretched and to grasp it, then to direct it to the next station.
  • the surface of the fastening member intended to come into contact with the part has asperities which cling to the constituent fibers of the part.
  • This will be for example fine-grained emery cloth.
  • the attachment surface has the shape of a portion of a cylinder, and the displacement means matched with the attachment member make it possible to apply said surface to the part along a generator of said cylinder and then to make rotate the cylinder portion on itself by moving said generator away from the holding zone while keeping the surface in contact with the part.
  • This particular arrangement significantly increases the attachment of the part to the surface when the part is extended.
  • the rotation of the pad can be obtained for example by the action of a jack whose body is integral with the body of the hooking member and whose end of the rod is integral with the pad at an eccentric point relative to to the axis of rotation.
  • the gripping means are pliers of a known type.
  • the handling device shown comprises a frame 1 on which is mounted a horizontal plane support 2 for a stack 3 of pieces of fabric to be handled.
  • the parts in question have a certain elasticity.
  • On an upper structural element fixed to the frame 1 is mounted the hooking member 4 intended to hang and take the upper part 5 of the stack 3 in a hooking zone 6, located along an edge of part 5.
  • the pressing member 7 intended to hold the part 5 on the stack 3 in a holding zone 8, located along the edge of the part 5, and opposite to the attachment zone 6.
  • the pressing member 7 comprises a shoe 9, fixed to the end of the rod 30 of a jack 31 (fig. 3) having two extreme positions.
  • the other position of the jack, rod retracted, moves the shoe 9 away from the part 5 and allows the release thereof.
  • the essential part of the attachment member 4 consists of a shoe 10 (FIG. 8), the section of which corresponds to a portion of a circle and on the cylindrical surface of which an element 11 is fixed, which is the attachment element.
  • This element 11 for example a fine-grained emery cloth, is placed around the shoe 10 so as to surround it over the entire curved portion and to extend beyond the flat upper part of the shoe.
  • a plate 12 is fixed against the upper part of the shoe and blocks in position the attachment element 11.
  • the plate 12 has two rods 13, 13 'perpendicular to the plane of the plate.
  • the shoe 10 is connected to the body 14 proper of the attachment member by the shoe support 15.
  • This shoe support 15, in the shape of a stirrup (FIG. 2) has two axes 16 and 16 ′ carried by flanges 17 and 17 'fixed on the body 14.
  • the shoe 10 itself is fixed on the shoe support 15 by means of the two rods 13 and 13' which are placed in recesses provided in the support 15, in which they are locked by means of pressure screws 18.
  • the pad support 15 is rotatable around the axes 16, 16 ′ which coincide with the axis of symmetry of the cylinder corresponding to the semi-cylindrical outer surface of the pad 10.
  • the rotational movement of the surface of the shoe 10 is obtained by the action of the jack 19 which is integral with both the shoe support 15 and the body 14 of the fastening member.
  • the body of the jack 19 can oscillate around the axes 20, 20 ′, carried by bearings made in the body 14, and the end of the rod 21 of the jack 19 is linked to the support 15 by yoke 22 and axis 23.
  • the body 14 of the attachment member is fixed to the end of the rod 24 of the jack 25, the body of which is integral with a part 26 of the frame 1 'of the device.
  • Rods 27, 27 ', fixed to the body 14, guide the latching member 4 during the action of the jack 25 between a first position where, rod 24 out, the pad 10 is in contact with the part 5 placed on top of the stack 3 and a second position where, rod 24 retracted, the shoe 10 is above the stack 3 and at a certain distance from the latter.
  • the two gripping parts 29, 29 ′ are of a known type; each of them has two jaws having two positions, one open, the other closed.
  • These clamps are provided with means of displacement: on the one hand transverse with respect to the part 5 for the gripping operation for example by means of the jacks 32, and on the other hand lateral for the transfer operation from the part 5 to the next station, for example by means of jacks 33 whose body is fixed to the structure the and whose rod is connected to the body of jacks 32, which body are guided on guide rails 34 parallel to direction D and integral of structure 1 '(cf. fig. 5b).
  • the clamps can be of the type known from document US-A-4,055,244, the teaching of which is incorporated by reference here.
  • the cylinders 19, 25, 31, 32 and 33 are for example double-acting hydraulic cylinders connected by fluid connections 19 ', 25', 31 'to a unit 36 controlling the distribution of fluid according to a program corresponding to the operations described below. .
  • FIGS. 3 to 7 The operation of the device which has just been described is illustrated by FIGS. 3 to 7.
  • the stack of parts 3 to be unstacked is placed (FIG. 3) on the support 2 which is a table at constant level provided with a mounting member - drop not shown.
  • Such a table can be of the type described in document US-A-3 253 824, the teaching of which is incorporated here by reference.
  • the pressing pad 9 is applied against the end of the part 5 to be gripped, in the holding zone 8, corresponding to the end of the part opposite to that which is to be gripped.
  • the gripping member 4, under the action of the jack 25, descends until the hooking element 11 covering the pad 10 meets the part 5 and slightly compresses the stack 3.
  • FIG. 5a it can be seen that under the action of the jack 25, the body 14 of the hooking member 4 rises vertically above the stack 3, and in doing so, the pad 10 lifts the part 5 by the attachment zone 6. Said part 5 remains taut during this operation, because the opposite end is held against the pile 3 under the pad 9, and the attachment is reinforced due to the increase in the tension exerted on the part 5.
  • FIG. 5b it can be seen that during the first steps which have just been described, the gripping pliers 29, 29 ′ are placed on each side of the stack, facing each of the edges which are not kept close to the pad 10 when the rod 24 of cylinder 25 is in the retracted position.
  • each gripper 29, 29 ′ approaches the part 5 and grasps the corresponding edges of the said part near the pad 10.
  • the clamps 29, 29 ′ move, FIG. 7, parallel to the support 2 and take the piece 5 in the direction of the arrow D. The beginning of this movement has the effect of relaxing the piece 5.
  • the pressing pad 9 is then raised under the action of the corresponding jack, and the part 5, being completely released, is transported by the clamps 29, 29 'to the next station.
  • the attachment pad consists of two distinct elements, one (pad support) integral with the body of the attachment member and the other (pad itself) easily removable has two advantages appreciable this makes it possible to adapt the length of the pad as a function of the width of the piece by mounting a pad of appropriate length on the pad support, and moreover it allows the hooking element to be easily replaced, be it loses its effectiveness in the event of fouling, or it is necessary to use another surface more suited to the nature of the fabric.

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  • Mechanical Engineering (AREA)
  • Textile Engineering (AREA)
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Abstract

Method and device for gripping a flexible piece, for example a textile piece, from a stack. The piece is maintained by means of a pressing pad along one edge and a hooking member (4) is applied along the opposite edge, said hooking member presenting a rough surface (11) for hooking the piece in an extended position. The hooking member is displaced first to put the piece in an extended position and after for taking the stretched piece from the pile. The stretched piece is seized on the two unheld edges by means of grippers. The hooking member is displaced towards its initial position to loosen the extremity of the piece which is transferred to the following station by moving the grippers. The hooking member (4) presents a semicylindrical contact surface (11) which is rotatingly movable about the axis (16) of said cylinder by means of a jack (19) integral with the body (14) of the member (4).

Description

La présente invention concerne la préhension d'une pièce souple et présentant une certaine élasticité, telle une étoffe textile sur un support, notamment une pile. Elle s'applique en particulier dans le domaine de l'automatisation de confection où les pièces à assembler ont été préalablement découpées alors qu'elles étaient sous forme de piles ou matelas. Après l'opération de découpe, il est nécessaire de prélever les pièces l'une après l'autre de la pile et de les présenter au poste d'assemblage.The present invention relates to the gripping of a flexible piece and having a certain elasticity, such as a textile fabric on a support, in particular a pile. It applies in particular in the field of garment automation where the parts to be assembled have been previously cut while they were in the form of batteries or mattresses. After the cutting operation, it is necessary to take the pieces one after the other from the stack and present them at the assembly station.

De nombreux procédés et dispositifs de préhension d'une pièce souple sur un support ont été proposés, reposant sur des principes de mise en oeuvre très variés. Selon le document FR-A-2 249 008, correspondant au document US-A-3 981 495, on utilise deux organes d'accrochage à aiguilles mobiles qu'on plante dans les bords opposés de la pièce supérieure de la pile. On écarte légèrement ces organes afin de tendre la pièce, on soulève puis on déplace la pièce en déplaçant les organes d'accrochage. Ce procédé a notamment pour inconvénient d'être agressif pour la pièce textile, à cause des aiguilles qui la pénètrent.Numerous methods and devices for gripping a flexible piece on a support have been proposed, based on very varied principles of implementation. According to document FR-A-2 249 008, corresponding to document US-A-3 981 495, two hooking members with movable needles are used which are planted in the opposite edges of the upper part of the stack. These parts are moved aside slightly in order to tension the part, the part is then lifted and moved by moving the attachment members. This process has the particular disadvantage of being aggressive for the textile piece, because of the needles which penetrate it.

Selon le document FR-A-2 349 523, correspondant eu document US-A-4 153 240, on utilise pour l'accrochage un ruban adhésif qui doit être renouvelé en permanence.According to document FR-A-2,349,523, corresponding to document US-A-4,153,240, an adhesive tape is used for the attachment which must be constantly renewed.

Selon le document FR-A-1 453 273, correspondant au document US-A-3 253 824, on pince généralement la pièce supérieure de la pile. Dans le cas des tissus pour lesquels ce pincement est indésirable, on utilise comme organe d'accrochage un rouleau recouvert d'une surface rugueuse, agencé de manière à pouvoir effectuer une rotation de 180° ou plus au cours de laquelle le tissu peut s'enrouler sur une large zone de la périphérie du rouleau, pour pouvoir être ensuite transporté avec le rouleau quand celui-ci se déplace. Ce dispositif a notamment pour inconvénient qu'il oblige à avoir un rouleau dont la longueur dépasse celle des pièces les plus larges, ce qui entraine un encombrement important.According to document FR-A-1 453 273, corresponding to document US-A-3 253 824, the upper part of the stack is generally clamped. In the case of fabrics for which this pinching is undesirable, a roller covered with a rough surface is used as the hooking member, arranged so as to be able to perform a rotation of 180 ° or more during which the fabric can roll up over a large area around the periphery of the roll, so that it can then be transported with the roll when it moves. This device has the particular disadvantage that it requires having a roller whose length exceeds that of the widest parts, which causes significant bulk.

Enfin le document FR-A-2 456 690, correspondant au document US-A-4 346 877, fait connaître un procédé utilisant comme organe d'accrochage un organe créant une boursouflure qui est ensuite pincée, après quoi la pièce est transportée par ledit organe d'accrochage.Finally the document FR-A-2 456 690, corresponding to the document US-A-4 346 877, discloses a process using as an attachment member a member creating a blister which is then pinched, after which the part is transported by said hooking member.

Aucun de ces procédés ne donne à ce jour complète satisfaction: les réglages y sont souvent trop délicats, et les organes d'accrochage peuvent détériorer l'étoffe ou n'être pas adaptés à tous les types d'étoffe.None of these methods has given complete satisfaction to date: the adjustments are often too delicate, and the fastening members may deteriorate the fabric or not be suitable for all types of fabric.

Le but de l'invention est de proposer un nouveau procédé palliant pour une large part les inconvénients précités, et spécialement adapté pour des pièces souples et présentant une certaine élasticité, notamment des pièces de tricot.The object of the invention is to propose a new process which largely overcomes the aforementioned drawbacks, and which is specially adapted for flexible pieces and having a certain elasticity, in particular knitting pieces.

Le but de l'invention est du type général selon lequel on maintient la pièce sur le support en une zone dite de maintien, située de préférence à une extrémité de la pièce, en appliquant sur cette zone un organe de pressage, on applique sur la pièce, en une zone éloignée de la zone de maintien, de préférence le long de l'extrémité opposée de la pièce, un organe d'accrochage puis, on éloigne l'organe d'accrochage du support de manière à prélever la pièce du support, on relève, l'organe de pressage et on évacue la pièce du support en la dirigeant vers le poste suivant,The object of the invention is of the general type according to which the part is held on the support in a so-called holding zone, preferably situated at one end of the part, by applying a pressing member to this zone, it is applied to the part, in a zone remote from the holding zone, preferably along the opposite end of the part, a hooking member then, the hooking member is moved away from the support so as to remove the part from the support , the pressing member is raised and the part is removed from the support by directing it to the next station,

Le procédé de l'invention se caractérise par les étapes suivantes:

  • - on applique sur la pièce un organe d'accrochage dont la surface en contact avec la pièce présente une rugosité suffisante pour permettre l'accrochage de la pièce en extension par frottement,
  • - on déplace la surface de l'organe d'accrochage appliqué sur la pièce, dans la direction opposée à celle de la zone de maintien, moyennant quoi la pièce est accrochée sur la surface d'accrochage et est tendue entre la zone de maintien et une zone dite d'accrochage,
  • - on éloigne l'organe d'accrochage du support de telle sorte que, la pièce étant prélevée du support, elle reste tendue entre la zone de maintien et la zone d'accrochage,
  • - on saisit les deux bords latéraux, non maintenus, de la pièce tendue, par des moyens de préhension,
  • - on déplace l'organe d'accrochage vers les moyens de préhension moyennant quoi la pièce se détend entre la zone d'accrochage et les moyens de préhension et l'accrochage est moins prononcé,
  • - on déplace les moyens de préhension au-dessus du support dans la direction de la zone de maintien, tout en relevant l'organe de pressage, moyennant quoi la pièce se décroche de l'organe d'accrochage, est évacuée du support et est dirigée grâce aux moyens de préhension vers le poste suivant.
The process of the invention is characterized by the following stages:
  • - a fastening member is applied to the part, the surface of which in contact with the part has a roughness sufficient to allow the part to be extended by friction;
  • the surface of the latching member applied to the part is moved in the direction opposite to that of the holding zone, whereby the part is hung on the latching surface and is stretched between the holding zone and a so-called attachment zone,
  • - the attachment member is moved away from the support so that, the part being removed from the support, it remains taut between the holding zone and the attachment zone,
  • - the two lateral edges, not maintained, of the tensioned piece are grasped, by gripping means,
  • - the fastening member is moved towards the gripping means whereby the part relaxes between the fastening zone and the gripping means and the fastening is less pronounced,
  • - The gripping means are moved above the support in the direction of the holding zone, while raising the pressing member, whereby the part is released from the latching member, is removed from the support and is directed by means of gripping to the next post.

Avantageusement, la surface d'accrochage ayant une forme courbe, le déplacement de la surface de l'organe d'accrochage selon la troisième étape du procédé consiste en une rotation de la surface dudit organe permettant à la fois l'application de toute la surface d'accrochage sur la pièce et la mise en extension de ladite pièce. La forme courbe, et plus particulièrement, cylindrique, de la surface d'accrochage est très avantageuse en ce qu'elle permet à la pièce sous extension de développer des forces de tension qui la plaquent contre la surface et augmentent d'autant l'accrochage, car la pénétration des saillies rugueuses dans l'étoffe augmente ainsi que le frottement.Advantageously, the attachment surface having a curved shape, the displacement of the surface of the attachment member according to the third step of the method consists in a rotation of the surface of said member allowing both the application of the entire surface attachment on the part and the extension of said part. The curved, and more particularly cylindrical, shape of the gripping surface is very advantageous in that it allows the part under extension to develop tension forces which press it against the surface and thereby increase the gripping. , because the penetration of rough projections into the fabric increases as well as friction.

On voit que le procédé de l'invention se distingue notamment des procédés connus par le fait que l'enlèvement de la pièce textile est réalisé en deux phases bien distinctes: d'une part la phase d'accrochage provisoire de la pièce, réalisée par des organes spécifiques n'entraînant pas de dégradation de l'étoffe; d'autre part, la phase de déplacement proprement dit, réalisée par d'autres organes spécifiques. Cette dissociation conduit à une simplification des organes en jeu et de leur réglage. La spécificité des organes d'accrochage, et leur rôle provisoire, permet d'envisager un mode d'accrochage non agressif, par rugosité sous extension, l'extension n'exigeant dans le cas de l'invention qu'un déplacement relativement faible de la surface rugueuse d'accrochage. Ce déplacement faible permet de concevoir l'organe d'accrochage sous la forme d'un ou plusieurs simples patins basculants, d'encombrement réduit.It can be seen that the method of the invention differs in particular from the known methods by the fact that the removal of the textile piece is carried out in two very distinct phases: on the one hand, the temporary attachment phase of the piece, carried out by specific organs not causing degradation of the fabric; on the other hand, the actual displacement phase, carried out by others specific organs. This dissociation leads to a simplification of the organs involved and their adjustment. The specificity of the attachment members, and their provisional role, makes it possible to envisage a non-aggressive attachment method, by roughness under extension, the extension requiring in the case of the invention only a relatively small displacement of the rough hooking surface. This small displacement makes it possible to design the attachment member in the form of one or more simple tilting pads, of reduced bulk.

Le procédé selon l'invention est avantageusement mis en oeuvre dans une dispositif de préhension du type comportant un support pour au moins une pièce souple et présentant une certaine élasticité, un organe de pressage assorti de moyens appropriés pour que ledit organe, à partir d'une position haute où il n'est pas en contact avec la pièce, prenne appui sur ladite pièce et la maintienne sur le support en une zone de maintien un organe d'accrochage destiné à venir en contact avec la pièce en une zone dite d'accrochage opposée à la zone de maintien, ledit organe étant assorti de moyens de déplacement permettant d'appliquer l'organe sur la pièce et de la prélever du support, et des moyens généraux de déplacement permettant de déplacer la pièce saisie et la diriger vers le poste suivant.The method according to the invention is advantageously implemented in a gripping device of the type comprising a support for at least one flexible part and having a certain elasticity, a pressing member matched with suitable means so that said member, from a high position where it is not in contact with the part, takes support on said part and maintains it on the support in a holding zone a fastening member intended to come into contact with the part in a zone called hooking opposite to the holding zone, said member being accompanied by displacement means making it possible to apply the member to the part and removing it from the support, and general displacement means making it possible to move the gripped part and direct it towards the next post.

Selon l'invention, l'organe d'accrochage a une surface qui présente une rugosité suffisante pour permettre l'accrochage de la pièce en extension par frottement, ses moyens de déplacement sont agencés pour lui permettre de réaliser l'extension de la pièce. Le dispositif comporte d'autre part deux moyens de préhension placés en regard l'un de l'autre selon les deux côtés non maintenus de la pièce et positionnés au-dessus du plan de la pièce lorsque celle-ci est en contact avec le support, lesdits moyens de préhension étant assortis desdits moyens généraux de déplacement leur permettant de se rapprocher de la pièce prélevée et tendue et de la saisir, puis de la diriger vers le poste suivant.According to the invention, the attachment member has a surface which has a roughness sufficient to allow the attachment of the piece in extension by friction, its displacement means are arranged to allow it to achieve the extension of the piece. The device furthermore comprises two gripping means placed opposite one another along the two unsupported sides of the part and positioned above the plane of the part when the latter is in contact with the support. , said gripping means being accompanied by said general means of movement allowing them to approach the part taken and stretched and to grasp it, then to direct it to the next station.

Préférentiellement, la surface de l'organe d'accrochage destinée à venir en contact avec la pièce comporte des aspérités qui s'accrochent aux fibres constitutives de la pièce. Ce sera par exemple de la toile émeri à grain fin.Preferably, the surface of the fastening member intended to come into contact with the part has asperities which cling to the constituent fibers of the part. This will be for example fine-grained emery cloth.

Avantageusement, la surface d'accrochage a la forme d'une portion de cylindre, et les moyens de déplacement assortis à l'organe d'accrochage permettent d'appliquer ladite surface sur la pièce le long d'une génératrice dudit cylindre puis de faire tourner la portion de cylindre sur elle-même en éloignant ladite génératrice de la zone de maintien tout en maintenant la surface en contact avec la pièce. Cette disposition particulière augmente sensiblement l'accrochage de la pièce sur la surface, lorsque la pièce est en extension.Advantageously, the attachment surface has the shape of a portion of a cylinder, and the displacement means matched with the attachment member make it possible to apply said surface to the part along a generator of said cylinder and then to make rotate the cylinder portion on itself by moving said generator away from the holding zone while keeping the surface in contact with the part. This particular arrangement significantly increases the attachment of the part to the surface when the part is extended.

Selon un mode privilégié de réalisation, l'organe d'accrochage comporte:

  • - le corps de l'organe, mobile verticalement par rapport au support grâce à un moyen de déplacement vertical, par exemple un vérin,
  • - un patin de forme semi-cylindrique, mobile en rotation autour de l'axe dudit cylindre et solidaire du corps de l'organe grâce à ce même axe.
According to a preferred embodiment, the attachment member comprises:
  • the body of the member, movable vertically with respect to the support by means of vertical displacement, for example a jack,
  • - A shoe of semi-cylindrical shape, movable in rotation around the axis of said cylinder and secured to the body of the member by this same axis.

La rotation du patin peut être obtenue par exemple grâce à l'action d'un vérin dont le corps est solidaire du corps de l'organe d'accrochage et dont l'extrémité de la tige est solidaire du patin en un point excentré par rapport à l'axe de rotation.The rotation of the pad can be obtained for example by the action of a jack whose body is integral with the body of the hooking member and whose end of the rod is integral with the pad at an eccentric point relative to to the axis of rotation.

Les moyens de préhension sont des pinces d'un type connu.The gripping means are pliers of a known type.

D'autres caractéristiques et avantages de l'invention seront mieux compris à la lecture de la description qui va suivre d'un exemple de réalisation et en se référant aux dessins annexes dans lesquels:

  • - la figure 1 est une vue schématique en élévation et en coupe verticale à travers un organe d'accrochage selon le mode priviligié de l'invention,
  • - la figure 2 est une vue schématique en coupe horizontale du même organe au niveau de l'axe de rotation du patin d'accrochage,
  • - les figures 3 à 7 montrent les différentes étapes du fonctionnement du dispositif, selon des coupes schématiques verticales,
  • - les figures 5b et 5c montrent la décomposition de l'étape de préhension de la pièce montrée à la figure 5a, selon des vues en plan,
  • - la figure 8 est une vue en perspective du patin d'accrochage.
Other characteristics and advantages of the invention will be better understood on reading the description which follows of an embodiment and with reference to the accompanying drawings in which:
  • FIG. 1 is a schematic view in elevation and in vertical section through a fastening member according to the preferred mode of the invention,
  • FIG. 2 is a schematic view in horizontal section of the same member at the level of the axis of rotation of the attachment pad,
  • FIGS. 3 to 7 show the different stages of the operation of the device, according to vertical schematic sections,
  • FIGS. 5b and 5c show the breakdown of the gripping step of the part shown in FIG. 5a, according to plan views,
  • - Figure 8 is a perspective view of the attachment pad.

Le dispositif de manutention représenté comprend un bâti 1 sur lequel est monté un support plan horizontal 2 pour une pile 3 de pièces d'étoffe à mantutentionner. Les pièces en question comportent une certaine élasticité. Sur un élément de structure supérieur l'fixé au bâti 1 est monté l'organe d'accrochage 4 destiné à accrocher et à prélever la pièce supérieure 5 de la pile 3 en une zone d'accrochage 6, située le long d'un bord de la pièce 5. Est aussi fixé à l'élément l'du bâti 1 l'organe de pressage 7 destiné à maintenir la pièce 5 sur la pile 3 en une zone de maintien 8, située le long du bord de la pièce 5, et opposée à la zone d'accrochage 6. Sont également fixées au bâti 1 sur les éléments de structure (voir fig. 5b) deux pinces de préhension 29 et 29' destinées à saisir la pièce 5 au niveau des bords non maintenus, c'est-à-dire ne correspondant ni à la zone de maintien 8 ni à la zone d'accrochage 6, et à la déplacer parallèlement au support 2 selon une direction allant de la zone d'accrochage 6 vers la zone de maintien 8 (flèche D sur les figures 7 et 8).The handling device shown comprises a frame 1 on which is mounted a horizontal plane support 2 for a stack 3 of pieces of fabric to be handled. The parts in question have a certain elasticity. On an upper structural element fixed to the frame 1 is mounted the hooking member 4 intended to hang and take the upper part 5 of the stack 3 in a hooking zone 6, located along an edge of part 5. Is also fixed to the element of the frame 1 the pressing member 7 intended to hold the part 5 on the stack 3 in a holding zone 8, located along the edge of the part 5, and opposite to the attachment zone 6. Are also fixed to the frame 1 on the structural elements (see fig. 5b) two gripping pliers 29 and 29 'intended to grip the part 5 at the unsupported edges, c' that is to say, corresponding neither to the holding zone 8 nor to the attachment zone 6, and to displacing it parallel to the support 2 in a direction going from the attachment zone 6 towards the holding zone 8 (arrow D in Figures 7 and 8).

L'organe de pressage 7 comporte un patin 9, fixé à l'extrémité de la tige 30 d'un vérin 31 (fig. 3) présentant deux positions extrêmes. L'une, tige sortie, où le patin - est appliqué sur la pièce 5 exerce sur la pile une certaine pression, ce qui aura pour effet de bloquer la pièce dans la zone de maintien 8, correspondant à la zone de la pièce 5 en contact avec la surface du patin 9. L'autre position du vérin, tige rentrée, écarte le patin 9 de la pièce 5 et permet le dégagement de celle-ci.The pressing member 7 comprises a shoe 9, fixed to the end of the rod 30 of a jack 31 (fig. 3) having two extreme positions. The first, an extended rod, where the pad - is applied to the part 5 exerts a certain pressure on the pile, which will have the effect of blocking the part in the holding zone 8, corresponding to the zone of the part 5 in contact with the surface of the shoe 9. The other position of the jack, rod retracted, moves the shoe 9 away from the part 5 and allows the release thereof.

La partie essentielle de l'organe d'accrochage 4 consiste en un patin 10 (figure 8) dont la section correspond à une portion de cercle et sur la surface cylindrique duquel est fixé un élément 11, qui est l'élément d'accrochage. Cet élément 11, par exemple une toile émeri à grain fin, est placé autour du patin 10 de manière à l'entourer sur toute la portion courbe et à déborder sur la partie supérieure plane du patin. Une plaque 12 est fixée contre la partie supérieure du patin et bloque en position l'élément 11 d'accrochage. La plaque 12 comporte deux tiges 13, 13' perpendiculaires au plan de la plaque.The essential part of the attachment member 4 consists of a shoe 10 (FIG. 8), the section of which corresponds to a portion of a circle and on the cylindrical surface of which an element 11 is fixed, which is the attachment element. This element 11, for example a fine-grained emery cloth, is placed around the shoe 10 so as to surround it over the entire curved portion and to extend beyond the flat upper part of the shoe. A plate 12 is fixed against the upper part of the shoe and blocks in position the attachment element 11. The plate 12 has two rods 13, 13 'perpendicular to the plane of the plate.

Le patin 10 est relié au corps 14 proprement dit de l'organe d'accrochage par le support de patin 15. Ce support de patin 15, en forme d'étrier (figure 2) comporte deux axes 16 et 16' portés par des flasques 17 et 17' fixés sur le corps 14. Le patin 10 lui-même est fixé sur le support de patin 15 par l'intermédiaire des deux tiges 13 et 13' qui sont placées dans des évidements prévus dans le suport 15, dans lesquels elles sont bloquées au moyen de vis de pression 18. Le support de patin 15 est mobile en rotation autour des axes 16, 16' qui sont confondus avec l'axe de symétrie du cylindre correspondant à la surface extérieure semi-cylindrique du patin 10.The shoe 10 is connected to the body 14 proper of the attachment member by the shoe support 15. This shoe support 15, in the shape of a stirrup (FIG. 2) has two axes 16 and 16 ′ carried by flanges 17 and 17 'fixed on the body 14. The shoe 10 itself is fixed on the shoe support 15 by means of the two rods 13 and 13' which are placed in recesses provided in the support 15, in which they are locked by means of pressure screws 18. The pad support 15 is rotatable around the axes 16, 16 ′ which coincide with the axis of symmetry of the cylinder corresponding to the semi-cylindrical outer surface of the pad 10.

Le déplacement en rotation de la surface du patin 10 est obtenu grâce à l'action du vérin 19 qui est solidaire à la fois du support de patin 15 et du corps 14 de l'organe d'accrochage. A cet effet, (figure 1) le corps du vérin 19 peut osciller autour des axes 20, 20', portés par des paliers ménagés dans le corps 14, et l'extrémité de la tige 21 du vérin 19 est liée au support 15 par la chape 22 et l'axe 23.The rotational movement of the surface of the shoe 10 is obtained by the action of the jack 19 which is integral with both the shoe support 15 and the body 14 of the fastening member. To this end, (FIG. 1) the body of the jack 19 can oscillate around the axes 20, 20 ′, carried by bearings made in the body 14, and the end of the rod 21 of the jack 19 is linked to the support 15 by yoke 22 and axis 23.

Le corps 14 de l'organe d'accrochage est fixé à l'extrémité de la tige 24 du vérin 25 dont le corps est solidaire d'une pièce 26 du bâti 1' du dispositif. Des tiges 27, 27', fixées sur le corps 14, assurent le guidage de l'organe d'accrochage 4 pendant l'action du vérin 25 entre une première position où, tige 24 sortie, le patin 10 est en contact avec la pièce 5 placée sur le dessus de la pile 3 et une seconde position où, tige 24 rentrée, le patin 10 est au-dessus de la pile 3 et à une certaine distance de celle-ci.The body 14 of the attachment member is fixed to the end of the rod 24 of the jack 25, the body of which is integral with a part 26 of the frame 1 'of the device. Rods 27, 27 ', fixed to the body 14, guide the latching member 4 during the action of the jack 25 between a first position where, rod 24 out, the pad 10 is in contact with the part 5 placed on top of the stack 3 and a second position where, rod 24 retracted, the shoe 10 is above the stack 3 and at a certain distance from the latter.

Les deux pièces de préhension 29, 29' sont d'un type connu; chacune d'elles comporte deux machoires ayant deux positions, l'une ouverte, l'autre fermée. Ces pinces sont assorties de moyens de déplacement: d'une part transversal par rapport à la pièce 5 pour l'opération de préhension par exemple grâce aux vérins 32, et d'autre part latéral pour l'opération de transfert de la pièce 5 vers le poste suivant, par exemple grâce à des vérins 33 dont le corps est fixé sur la structure l'et dont la tige est reliée au corps des vérins 32, lesquels corps sont guidés sur des rails de guidage 34 parallèles à la direction D et solidaires de la structure 1' (cf. fig. 5b). Les pinces peuvent être du type connu par le document US-A-4 055 244 dont on incorpore ici l'enseignement par référence.The two gripping parts 29, 29 ′ are of a known type; each of them has two jaws having two positions, one open, the other closed. These clamps are provided with means of displacement: on the one hand transverse with respect to the part 5 for the gripping operation for example by means of the jacks 32, and on the other hand lateral for the transfer operation from the part 5 to the next station, for example by means of jacks 33 whose body is fixed to the structure the and whose rod is connected to the body of jacks 32, which body are guided on guide rails 34 parallel to direction D and integral of structure 1 '(cf. fig. 5b). The clamps can be of the type known from document US-A-4,055,244, the teaching of which is incorporated by reference here.

Les vérins 19, 25, 31, 32 et 33 sont par exemple des vérins hydrauliques double effet reliés par des connexions fluidiques 19', 25', 31' à une unité 36 commandant la distribution de fluide selon un programme correspondant aux opérations décrites plus loin.The cylinders 19, 25, 31, 32 and 33 are for example double-acting hydraulic cylinders connected by fluid connections 19 ', 25', 31 'to a unit 36 controlling the distribution of fluid according to a program corresponding to the operations described below. .

Le fonctionnement du dispositif qui vient d'être décrit est illustré par les figures 3 à 7. La pile de pièces 3 à dépiler est placée (figure 3) sur le support 2 qui est une table à niveau constant munie d'un organe de montée-baisse non représenté. Une telle table peut être du type de celle décrite dans le document US-A-3 253 824 dont on incorpore ici l'enseignement par référence. Le patin de pressage 9 est appliqué contre l'extrémité de la pièce 5 à saisir, dans la zone de maintien 8, correspondant à l'extrémité de la pièce opposée à celle qui doit être saisie. L'organe de préhension 4, sous l'action du vérin 25, descend jusqu'à ce que l'élément d'accrochage 11 revêtant le patin 10 rencontre la pièce 5 et comprime légèrement la pile 3. Pendant ce mouvement, la tige 21 du vérin 19 est sortie totalement (figure 3) de telle sorte que la zone de l'élément 11 en contact avec la pièce 5 corresponde à la zone 11 a (figure 1), décalée par rapport au plan de symétrie du patin 10. Dans cette première étape, la pièce 5 est maintenue contre la pile 3 par le patin 9 sur un de ses côtés et par le patin 10 sur le côté opposé.The operation of the device which has just been described is illustrated by FIGS. 3 to 7. The stack of parts 3 to be unstacked is placed (FIG. 3) on the support 2 which is a table at constant level provided with a mounting member - drop not shown. Such a table can be of the type described in document US-A-3 253 824, the teaching of which is incorporated here by reference. The pressing pad 9 is applied against the end of the part 5 to be gripped, in the holding zone 8, corresponding to the end of the part opposite to that which is to be gripped. The gripping member 4, under the action of the jack 25, descends until the hooking element 11 covering the pad 10 meets the part 5 and slightly compresses the stack 3. During this movement, the rod 21 of the jack 19 is fully extended (Figure 3) so that the area of the element 11 in contact with the part 5 corresponds to the area 11a (Figure 1), offset from the plane of symmetry of the pad 10. In this first step, the part 5 is held against the stack 3 by the pad 9 on one of its sides and by the pad 10 on the opposite side.

Sur la figure 4, le corps 14 de l'organe 4 restant dans la même position basse (tige 24 du vérin 25 sortie), le patin 10 pivote autour de l'axe 16 sous l'action du vérin 19. Dès le début du déplacement en rotation du patin, la surface de l'élément 11 accroche la pièce 5, grâce à l'action des aspérités sur les fibres de la pièce, et l'entraîne dans son mouvement provoquant la mise en extension de la pièce 5, maintenue à son autre extrémité par le patin de pressage 9. On a pu constater que l'intensité de l'accrochage augmente avec la tension exercée sur l'étoffe. Aussi, l'allongement obtenu permet de décoller plus facilement la première pièce 5 de la pièce suivante. A titre indicatif l'allongement de la pièce peut être, lors de l'utilisation du dispositif dans cette deuxième étape, de l'ordre de 5 à 10 pour cent.In FIG. 4, the body 14 of the member 4 remaining in the same low position (rod 24 of the jack 25 out), the shoe 10 pivots about the axis 16 under the action of the jack 19. From the start of the displacement in rotation of the shoe, the surface of the element 11 catches the part 5, thanks to the action of the roughness on the fibers of the part, and drives it in its movement causing the extension of the part 5, maintained at its other end by the pressing pad 9. It has been observed that the intensity of the attachment increases with the tension exerted on the fabric. Also, the elongation obtained makes it easier to take off the first part 5 from the next part. As an indication, the elongation of the part can be, when using the device in this second step, of the order of 5 to 10 percent.

Sur la figure 5a, on voit que sous l'action du vérin 25, le corps 14 de l'organe 4 d'accrochage remonte verticalement au-dessus de la pile 3, et ce faisant, le patin 10 soulève la pièce 5 par la zone d'accrochage 6. Ladite pièce 5 reste tendue pendant cette opération, car l'extrémité opposée est maintenue contre la pile 3 sous le patin 9, et l'accrochage est renforcé du fait de l'augmentation de la tension exercée sur la pièce 5.In FIG. 5a, it can be seen that under the action of the jack 25, the body 14 of the hooking member 4 rises vertically above the stack 3, and in doing so, the pad 10 lifts the part 5 by the attachment zone 6. Said part 5 remains taut during this operation, because the opposite end is held against the pile 3 under the pad 9, and the attachment is reinforced due to the increase in the tension exerted on the part 5.

Sur la figure 5b, on voit que pendant les premières étapes qui viennent d'être décrites, les pinces de préhension 29, 29' sont placées de chaque côté de la pile, face à chacun des bords non maintenus à proximité du patin 10 lorsque la tige 24 du vérin 25 est en position rentrée.In FIG. 5b, it can be seen that during the first steps which have just been described, the gripping pliers 29, 29 ′ are placed on each side of the stack, facing each of the edges which are not kept close to the pad 10 when the rod 24 of cylinder 25 is in the retracted position.

Sur la figure 5c, on voit que, une fois l'étape de prélèvement de la pièce 5 terminée, comme illustrée à la figure 5a, chaque pince de préhension 29, 29' se rapproche de la pièce 5 et saisit les bords correspondants de ladite pièces près du patin 10.In FIG. 5c, it can be seen that, once the step for removing the finished part 5, as illustrated in FIG. 5a, each gripper 29, 29 ′ approaches the part 5 and grasps the corresponding edges of the said part near the pad 10.

Puis figure 6, sous l'action du vérin 19, le patin 10 pivote autour de l'axe 16 (tige 21 rentrée) et est ramené dans sa position initiale (flèche F). Dans ce mouvement, la partie de la pièce 5 délimitée par les pinces de préhension 29, 29' et le bord extrême 28 de la pièce, le long de la zone d'accrochage 6, se détend et se détache de la surface de l'élément d'accrochage 11.Then in FIG. 6, under the action of the jack 19, the pad 10 pivots about the axis 16 (rod 21 retracted) and is returned to its initial position (arrow F). In this movement, the part of the part 5 delimited by the grippers 29, 29 ′ and the extreme edge 28 of the part, along the attachment zone 6, relaxes and detaches from the surface of the fastening element 11.

Les pinces 29, 29' se déplacent, figure 7, parallèlement au suport 2 et emmènent la pièce 5 dans la direction de la flèche D. Le début de ce déplacement a pour effet de détendre la pièce 5. Le patin de pressage 9 est alors relevé sous l'action du vérin correspondant, et la pièce 5, étant complétement libérée, est transportée par les pinces 29, 29' jusqu'au poste suivant.The clamps 29, 29 ′ move, FIG. 7, parallel to the support 2 and take the piece 5 in the direction of the arrow D. The beginning of this movement has the effect of relaxing the piece 5. The pressing pad 9 is then raised under the action of the corresponding jack, and the part 5, being completely released, is transported by the clamps 29, 29 'to the next station.

L'invention ne se limite pas au seul mode de réalisation qui vient d'être décrit. Celui-ci présente cependant des avantages intéressants pour l'utilisateur. En particulier, le fait que le patin d'accrochage est constitué de deux éléments distincts, l'un (support de patin) solidaire du corps de l'organe d'accrochage et l'autre (patin proprement dit) facilement démontable présente deux avantages appréciables cela permet d'adapter la longueur du patin en fonction de la largeur de la pièce en montant un patin de longueur appropriée sur le support du patin, et par ailleurs cela permet de remplacer facilement l'élément d'accrochage soit que celui-ci perde de son efficacité en cas d'encrassement soit qu'il soit nécessaire d'utiliser une autre surface plus adaptée à la nature de l'étoffe.The invention is not limited to the single embodiment which has just been described. However, this has interesting advantages for the user. In particular, the fact that the attachment pad consists of two distinct elements, one (pad support) integral with the body of the attachment member and the other (pad itself) easily removable has two advantages appreciable this makes it possible to adapt the length of the pad as a function of the width of the piece by mounting a pad of appropriate length on the pad support, and moreover it allows the hooking element to be easily replaced, be it loses its effectiveness in the event of fouling, or it is necessary to use another surface more suited to the nature of the fabric.

Claims (10)

1. Method for gripping a flexible piece (5) having a certain elasticity on a support, in particular a stack (3), of the type in which:
- the piece (5) is held on the support at a holding zone (8), preferably located at one end of the piece, by applying a pressure member (7) against this zone,
- a hooking member (4) is applied to the piece, at a zone (6) remote from the holding zone (8), preferably along the opposite edge of the piece,
- the hooking member (4) is moved away from the support so as to take the piece (5) from the support,
- the pressure member (7) is raised and the piece (5) is removed from the support, transferring it to the following station, characterized in that it comprises the following stages:
- a hooking member is applied to the piece (5), the surface (11) of this member in contact with the piece being rough enough to allow the piece to be hooked in an extended position,
- the surface (11) of the hooking member (4) applied to the piece is moved in the direction opposite to that of the holding zone (8) as a result of which the piece is hooked on the hooking surface and is stretched between the holding zone (8) and a hooking zone (6),
- the hooking member is moved away from the support in such a way that, since the piece (5) has been taken from the support (3), it remains stretched between the holding zone (8) and the hooking zone (6),
- the two side edges of the stretched piece which are not held are gripped by gripper means (29, 29'),
- the hooking member (4) is moved towards the gripper means (29, 29') as a result of which the piece is relaxed between the hooking zone and the gripper means and the hooking is less pronounced,
- the gripper means (29, 29') are moved above the support (3) in the direction of the holding zone (8), while raising the pressure member (7), as a result of which the piece is unhooked from the hooking member, removed from the support and transferred, by means of the gripper means, to the following station.
2. A gripping method as claimed in claim 1, characterized in that the hooking surface (11) has a curved shape and the movement of the surface of the hooking member (4) according to the second stage of the method consists in a rotation of this surface allowing both the application of the whole hooking surface to the piece and the extension of this piece.
3. A gripper device for the implementation of the method as claimed in claim 1, of the type comprising a support (2) for at least one flexible piece (5) having a certain elasticity, a pressure member (7) associated with means suitable to cause this member, from a top position in which it is not in contact with the piece (5), to bear on this piece and hold it on the support at a holding zone (8), a hooking member (4) designed to come into contact with the piece (5) at a hooking zone (6) remote from the holding zone (8), the member (4) being associated with displacement means (19, 25) allowing the member (4) to be applied against the piece and to take it from the support, and general displacement means allowing the gripped piece to be moved and transferred to the following station, characterized in that the hooking member (4) has a surface (11) which is rough enough to allow the hooking of the piece in an extended position, in that its displacement means (19, 25) are arranged so that it can bring the piece into an extended position, and in that the device also comprises two gripper means (29, 29') disposed opposite one another along the two sides of the piece which are not held and positioned above the plane of the piece when the latter is in contact with the support, these gripper means (29, 29') being associated with the general displacement means so that they can approach the piece (5) which has been taken up and stretched and grip it and then transfer it to the following station.
4. A gripper device as claimed in claim 3, characterized in that the surface (11) of the hooking member designed to come into contact with the piece comprises rough areas which hook onto the fibres forming the piece, for example fine-grain emery cloth.
5. A gripper device as claimed in one of claims 3 and 4, characterized in that the hooking surface (11) is shaped as a portion of a cylinder, and the displacement means associated with the hooking member allow this surface to be applied against the piece along a generatrix of this cylinder following which the cylinder portion is rotated about itself thereby spacing the generatrix from the holding zone (8) while maintaining the surface in contact with the piece.
6. A gripper device as claimed in claim 5, characterized in that the hooking member (4) comprises:
- the body (14) of the member which can be moved vertically with respect to the support (2) by vertical displacement means, for example a jack (25),
- a shoe (10) of semi-cylindrical shape which moves in rotation about the axis (16) of the cylinder and is rigid with the body (14) of the member via this same axis (16).
7. A gripper device as claimed in claim 6, characterized in that the hooking member (4) comprises a jack whose body (19) is rigid with the body (14) of the hooking member and wherein the end (22) of the rod (21) is rigid with the shoe (10) at a point (23) which is off centre with respect to the axis (16) of rotation.
8. A gripper device as claimed in one of claims 5 to 7, characterized in that the shoe (10) is formed by two separate assemblies:
- the shoe support (15) rigid with the body (14) of the gripper member via the axes (16, 16') and mobile in rotation about this axis (16),
- the shoe (10) itself which has a semi-cylindrical shape whose curved surface corresponds to the hooking surface and which comprises means (13, 13') for securing this shoe to the shoe support (15).
9. A gripper device as claimed in claim 8, characterized in that the shoe comprises, on the one hand, a member (10) of semi-cylindrical shape around which the hooking member (11) is positioned so that it fits the curved shape and projects on each side over the plane upper portion of the member (10) and, on the other hand, a plate (12) of the average size of the upper portion of the member (10), comprising at least one rod (13) for rapid fastening to the shoe support (15) and means for rapid fastening to the semi-cylindrical member (10).
EP19870901062 1986-02-10 1987-02-09 Gripping method and device for taking a flexible piece from a stack Expired - Lifetime EP0292490B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8601792 1986-02-10
FR8601792A FR2594104B1 (en) 1986-02-10 1986-02-10 METHOD AND DEVICE FOR GRIPPING A FLEXIBLE PART ON A STACK

Publications (2)

Publication Number Publication Date
EP0292490A1 EP0292490A1 (en) 1988-11-30
EP0292490B1 true EP0292490B1 (en) 1990-02-07

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP19870901062 Expired - Lifetime EP0292490B1 (en) 1986-02-10 1987-02-09 Gripping method and device for taking a flexible piece from a stack

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EP (1) EP0292490B1 (en)
JP (1) JPH01502106A (en)
DE (1) DE3761653D1 (en)
FR (1) FR2594104B1 (en)
WO (1) WO1987004689A1 (en)

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Publication number Priority date Publication date Assignee Title
TWI810085B (en) * 2022-10-07 2023-07-21 峻典股份有限公司 Multi-angle felting needle clamp device

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1460108A1 (en) * 1964-03-12 1969-01-30 L & L Mfg Inc Device and method for separating pieces of fabric from a stack or the like.
FR2249008B1 (en) * 1973-10-26 1978-06-09 Bijttebier Gaspar
BE806542A (en) * 1973-10-26 1974-02-15 Bijttebier Gaspar A H PROCEDURE FOR INCLUDING A LAYER OF FLEXIBLE MATERIAL FROM A STACK AND DEVICE USING THIS PROCEDURE
US4283047A (en) * 1977-06-17 1981-08-11 Levi Strauss & Co. Facing ply separator
FR2456690A1 (en) * 1979-05-17 1980-12-12 Anvar GRIPPING METHOD AND HANDLING DEVICE USING THE SAME

Also Published As

Publication number Publication date
WO1987004689A1 (en) 1987-08-13
FR2594104B1 (en) 1988-11-18
FR2594104A1 (en) 1987-08-14
JPH01502106A (en) 1989-07-27
DE3761653D1 (en) 1990-03-15
EP0292490A1 (en) 1988-11-30

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