EP1105262B1 - Method and installation for automatically cutting and removing stacks of pieces in a web of sheet material - Google Patents

Description

Field of the invention

The invention relates to automated cutting of batteries of pieces in a stack of sheet material, or mattress, by example, the cutting of fabrics in the garment industry, upholstery or automobile upholstery, or cutting of textiles techniques or sheets of non-textile material in other sectors of industry.

More particularly, the invention relates to separation and unloading piles of pieces after cutting in the mattress.

Background of the invention

If we take the example of the garment industry, the usual organization of the production of articles of clothing is articulated around a cutting workshop with at least one cutting machine operating on a mattress according to a predetermined placement, and a workshop of manufacture, or assembly, where are assured the operations assembly and stitching of cut and finished parts of articles thus obtained.

Products from the mattress cut should be treated to allow the use of parts by the manufacturing workshop. In In particular, it is necessary to separate the useful pieces and cutting waste, the latter constituting the skeleton the mattress, that is to say the part of the mattress complementary to the piles of cut pieces useful. It may also be required to perform a sort, identification and / or packaging of stacks of cut pieces for Consistent batches before they are sent to the workshop. manufacturing.

The separation between stacks of cut pieces and the skeleton of the mattress and sorting stacks of cut pieces are commonly performed manually by an operator. To help the operator to distinguish between stacks of useful parts and parts of the skeleton, it is often necessary to carry out a marking of each stack for easy identification.

Processes have been devised to achieve automatically the separation between the stacks of useful pieces and the skeleton of the mattress.

Thus, US Pat. No. 5,101,747 proposes an installation in the skeleton of the mattress is taken out of the cutting station by being pulled up off the horizontal path of the mattress, while a roller presses on the mattress to help stacks of cut pieces to to separate from the mattress and to fall by gravity into a receiving tray. he however, it is necessary to link the pieces of each stack together, sewing, so that the batteries retain their integrity. he is also necessary to sort the stacks of collected pieces and this may require battery marking to assist an inexperienced operator or when the shapes of the pieces can be near. He is still necessary to provide a placement of the pieces to be cut as it leaves the skeleton of the mattress in one piece, which requires spacing enough parts of each other and edges of the mattress, therefore does not optimize the use of the material.

US Pat. No. 5,092,829 proposes to insert in the stacks of cut pieces of the connecting members and take out the piles of parts by means of a robot arm adapted to grip the connecting members engaged through the pieces. The movements of the robotic arm are controlled by a control unit based on information memorized relating to the locations of the stacks of coins in the mattress. This system however has the major drawback of require the introduction of a connecting member, for example a rod notched, in the stacks of coins. In many cases, this results in a unacceptable deterioration of the material.

• fractionner le squelette du pli ou du matelas en plusieurs parties lors de la découpe des piles de pièces sur la table de coupe
• amener progressivement, au-dessus d'un grille de déchargement, le pli ou le matelas comportant les piles de pièces découpées et le squelette du pli ou du matelas, non séparés les uns des autres, et
• décharger successivement les piles de pièces et les parties de squelette découpées en commandant le déplacement de l'outil de déchargement pour l'amener au contact des parvenues au-dessus de la grille de déchargement, en utilisant les informations relatives aux emplacements des pièces, à la surface du pli ou du matelas, et pour dégager chaque pile du reste du pli ou du matelas sans interférer avec les piles de pièces et les parties de squelette non encore déchargées, les piles de pièces découpées et les parties de squelette du pli ou du matelas étant déchargées de manière à dégager le passage sur la grille de déchargement pour des piles de pièces et les parties de squelette non encore déchargées.

EP-A-841 130 discloses a device and a method in which stacks of cut pieces are removed with the aid of a prevention tool, while the parts of the skeleton are removed by gravity. In this document a method is described for automatically cutting and unloading stacks of workpieces in a mat of superimposed layers of sheet material, comprising: cutting stacks of workpieces into the mattress on a cutting table, starting from recorded information relating to the locations of the pieces on the surface of the fold or the mattress, and the unloading of the stacks of pieces by means of at least one automatically controlled unloading tool, the method comprising the steps of:

• split the skeleton of the fold or mattress into several parts when cutting stacks of pieces on the cutting table
• gradually bringing, over an unloading grid, the fold or the mattress comprising the stacks of cut pieces and the skeleton of the fold or mattress, not separated from each other, and
• successively discharging the stacks of pieces and the cut skeleton portions by controlling the movement of the unloading tool to bring it into contact with the overflow gratings, using the information on the locations of the pieces, the surface of the fold or mattress, and to disengage each stack from the rest of the fold or mattress without interfering with the stacks of coins and skeleton parts not yet unloaded, the stacks of cut pieces and the skeleton portions of the fold or mat. mattress being discharged so as to clear the passage on the unloading grid for stacks of parts and skeletal parts not yet discharged.

• commander les déplacements relatifs entre l'outil de coupe et un pli ou un matelas porté par la table de coupe afin de découper en plusieurs parties le squelette du matelas, et
• commander les déplacements de l'outil de déchargement pour l'amener au contact de piles de pièces découpées parvenues avec un pli ou un matelas sur une surface de la grille de déchargement située en aval de la table de coupe et dégager successivement les piles de pièces découpées du reste du matelas.

The device described herein is an apparatus for automatic cutting and unloading of stacks of workpieces into a fold of a sheet material or a mattress formed of superimposed layers of sheet material, comprising: a cutting table of the first moving means for moving a fold or a mattress on the cutting table; a cutting tool; second moving means for moving the cutting tool over the cutting table; a control unit connected to the first and second moving means for controlling relative movements between the cutting tool and a fold or a mattress carried by the cutting table in order to cut into the fold or the mattress of the stacks of workpieces; stored placement information function relating to locations at the surface of the fold or mat of pieces to be cut; at least one automatic unloading tool for stacks of cut pieces; and third moving means for moving the unloading tool and connected to the control unit in order, in particular, to bring the unloading tool to the stack of cut pieces to be unloaded, the installation further comprising a grid of unloading above which the unloading tool can be moved and the control unit being arranged for:

• controlling the relative movements between the cutting tool and a fold or mattress carried by the cutting table to cut the skeleton of the mattress into several parts, and
• controlling the movements of the unloading tool to bring it into contact with stacks of pieces cut with a fold or a mattress on a surface of the unloading grid located downstream of the cutting table and to successively release the stacks of pieces cut from the rest of the mattress.

Obiets and summary of the invention

The object of the invention is to provide a method enabling a automatic unloading of stacks of cut pieces in a mattress and that does not require a binding of the parts of each stack for make it coherent, nor the introduction of connecting and gripping through the piles.

Another object of the invention is to provide a method of automatic unloading which imposes no sensible constraint on the placement of the parts and therefore allows optimum use of the material.

Another object of the invention is to provide a method of automatic unloading of stacks of parts that does not require labeling of batteries.

According to the invention, a method according to claim 1.

The invention is remarkable because, thanks to the splitting the skeleton of the mattress, stacks of cut pieces can be released from the mattress one after another simply by sliding them parallel to the unloading table. The absence interference with the remaining coin piles in the mattress allows to keep the position reference of these so that they can to be reached later by the unloading tool.

Advantageously, the fractionation of the mattress is made of to determine, for each pile of coins, a corridor of clearance defined by a preferred sliding direction and a width. The preferred slip direction may include parts non-rectilinear, the displacement of a stack of parts being realized by translation (s) and / or rotation (s) above the unloading table. The width of the clearance corridor is at least equal to the dimension maximum of the stack of coins measured perpendicular to the direction slip. Clearance corridors can be defined from the same way at least for some of the skeleton parts of the mattress.

Moving stacks of coins on the table unloading may be carried out by supporting them by air cushion, or rolling them. The training of each pile of coins on the table of unloading can be done by simply pressing the tool unloading on the surface of the pile.

Each stack of discharged parts may be accompanied by the unloading tool to a receiving device or sent to this one by a pulse of movement given by the unloading tool.

Stacks of discharged parts can be directed to least one receiving device for constituting predetermined sets, for example, coherent batches for the assembly shop, or to form at least one ordered row in a predetermined manner, by example a line of stacks of pieces arranged on a conveyor in a predetermined order to be routed to the assembly shop.

it can be planned to unload like a single stack each set of several neighboring batteries in the mattress whose pieces have such shapes that they lock each other and that their mutual separation by simple displacement parallel to the plane of the mattress is impossible. The separation between the piles mutually nested can be done manually at a later stage.

In addition, it may be provided, in particular for stacks of small or very small parts, leave the batteries included in unframed mattress parts. Each of these stacks of pieces are then unloaded with the mattress part that surrounds it which, by offering a larger surface, facilitates handling by the unloading tool. The separation between the stack of coins and the game of mattress in which it is included can be performed manually at a later stage, this part of the mattress can be a part of skeleton or another stack of pieces.

It is advantageously carried out not only automatic unloading of stacks of parts, but also the automatic evacuation of at least some of the parts of the skeleton of the mattress by means of the unloading tool. '

According to a feature of the process, parts of the skeleton of mattresses, in particular those lying along the longitudinal edges of the mattresses, can be evacuated from the unloading table by automatic removal means separate from the unloading tool.

According to another particularity of the method, parts of the skeleton of the mattress, especially small falls, remaining on the unloading table, may be evacuated by scanning by means of the unloading tool browsing the table of unloading, the unloading tool then preferably being provided with scanning means provided for this purpose.

When the mattress is covered with a plastic film before cutting stacks of pieces, the part of plastic film cut with each stack of coins and located on each pile can be removed automatically before evacuation of the stack of coins out of the table of unloading. The removal of each part of plastic film is advantageously carried out by means of the unloading tool, by example by aspiration.

According to another particularity of the method, the batteries of Discharged parts can be packed individually. Stacks of Discharged parts may be marked, for example by printing or labeling carried by the unloading tool, or after packing piles of coins.

The invention also aims to provide an installation allowing the implementation of the cutting and unloading process automatic defined above. This installation is defined in the claim 23.

Advantageously, the surface of the unloading table has a plurality of orifices, and the unloading table is connected to blower means to be able to support the piles of parts cut by air cushion.

Alternatively, the unloading table is provided on the surface with rolling means.

The unloading tool, for example equipped with a finger or several fingers of variable mutual spacing, is advantageously moving between a raised position and a lowered position to come into support on the upper surface of a pile of cut pieces being moved from its raised position to its lowered position.

In addition, the unloading tool can be mobile in rotation around an axis perpendicular to the unloading table, relative to a movable tool holder parallel to the table of unloading, so as to allow the release of piles of parts by possibly turning them on themselves.

Brief description of the drawings

• la figure 1 est une vue générale très schématique en perspective d'un mode de réalisation d'une installation permettant la mise en oeuvre de l'invention ;
• la figure 2 est une vue très schématique de dessus du poste de déchargement de l'installation de la figure 1 ;
• la figure 3 est une vue de détail en élévation de l'outil de déchargement de l'installation de la figure 1 ;
• la figure 4 illustre le déroulement d'un processus automatique de placement de piles de pièces et de lignes de découpe du squelette du matelas, et de détermination de rangs et couloirs de dégagement pour la mise en oeuvre d'un procédé conforme à l'invention ;
• les figures 5A à 5F illustrent la réalisation d'un placement en vue de la découpe de pièces, de la fragmentation d'un squelette et d'un déchargement automatisé, selon un exemple de mise en oeuvre du procédé conforme à l'invention ;
• la figure 6 illustre un cas particulier d'une pile de pièces et d'une partie de squelette mutuellement imbriquées ;
• la figure 7 illustre un cas particulier de piles de pièces mutuellement imbriquées ;
• les figures 8A à 8D illustrent le déroulement d'un processus automatique de découpe de piles de pièces et de fragmentation de squelette dans un matelas, de déchargement de piles de pièces et d'évacuation de fragments de squelette de matelas, pour la mise en oeuvre du procédé selon l'exemple des figures 5A à 5E.
• la figure 9 est une vue schématique en élévation illustrant un autre mode de réalisation d'un outil de déchargement d'une installation conforme à l'invention ;
• la figure 10 montre les étapes successives de déchargement d'une pile de pièces et d'évacuation d'une partie de film plastique initialement située au-dessus de la pile de pièces, au moyen de l'outil de déchargement de la figure 9 ;
• la figure 11 est une vue schématique en élévation illustrant un troisième mode de réalisation d'un outil de déchargement d'une installation conforme à l'invention ;
• la figure 12 est une vue schématique en élévation illustrant un quatrième mode de réalisation d'un outil de déchargement muni de moyens de balayage pour une installation conforme à l'invention ;
• la figure 13 est une vue schématique en élévation d'un cinquième mode de réalisation d'un outil de déchargement muni de moyens d'impression, pour une installation conforme à l'invention ;
• la figure 14 est une vue schématique en élévation d'un sixième mode de réalisation d'un outil de déchargement muni de moyens d'étiquetage, pour une installation conforme à l'invention ;
• la figure 15 est une vue très schématique de dessus illustrant un autre mode de réalisation d'un poste de déchargement d'une installation conforme à l'invention, avec des moyens d'évacuation de fragments de squelette de matelas distincts de l'outil de déchargement ;
• la figure 16 est une vue schématique en élévation de moyens d'évacuation de la figure 15 ;
• la figure 17 est une vue schématique en perspective illustrant encore un autre mode de réalisation d'un poste de déchargement d'une installation conforme à l'invention, avec des moyens d'emballage de piles de pièces découpées ;
• les figures 18 à 20 sont des vues très schématiques illustrant encore d'autres modes de réalisation d'une installation conforme à l'invention ; et
• les figures 21 et 22 sont des vues très schématiques de dessus illustrant d'autres modes de réalisation d'une table de déchargement.

Other features and advantages of the method and the installation according to the invention will become apparent on reading the description given below by way of indication but without limitation, with reference to the appended drawings in which:

• Figure 1 is a very schematic perspective view of an embodiment of an installation for carrying out the invention;
• Figure 2 is a very schematic top view of the unloading station of the installation of Figure 1;
• Figure 3 is a detail view in elevation of the unloading tool of the installation of Figure 1;
• FIG. 4 illustrates the progress of an automatic process for placing stacks of parts and cutting lines of the skeleton of the mattress, and determining ranks and clearance corridors for implementing a method according to the invention. ;
• FIGS. 5A to 5F illustrate the realization of a placement for the purpose of cutting pieces, the fragmentation of a skeleton and an automated unloading, according to an example of implementation of the process according to the invention;
• Fig. 6 illustrates a particular case of a mutually interleaved stack of coins and a skeleton portion;
• Figure 7 illustrates a particular case of mutually nested coin piles;
• FIGS. 8A to 8D illustrate the progress of an automatic process for cutting stacks of pieces and for skeleton fragmentation in a mattress, for unloading stacks of pieces and for evacuating mattress skeleton fragments, for the implementation of the method according to the example of FIGS. 5A to 5E.
• Figure 9 is a schematic elevational view illustrating another embodiment of an unloading tool of an installation according to the invention;
• Figure 10 shows the successive steps of unloading a stack of parts and discharging a portion of plastic film initially located above the stack of parts, by means of the unloading tool of Figure 9;
• Figure 11 is a schematic elevational view illustrating a third embodiment of an unloading tool of an installation according to the invention;
• Figure 12 is a schematic elevational view illustrating a fourth embodiment of an unloading tool provided with scanning means for an installation according to the invention;
• Figure 13 is a schematic elevational view of a fifth embodiment of an unloading tool provided with printing means, for an installation according to the invention;
• Figure 14 is a schematic elevational view of a sixth embodiment of an unloading tool provided with labeling means for an installation according to the invention;
• FIG. 15 is a very diagrammatic view from above illustrating another embodiment of an unloading station of an installation according to the invention, with means for evacuating skeleton fragments of mattresses distinct from the tool of FIG. unloading;
• Figure 16 is a schematic elevational view of the evacuation means of Figure 15;
• Figure 17 is a schematic perspective view illustrating yet another embodiment of an unloading station of an installation according to the invention, with means for packaging stacks of cut pieces;
• Figures 18 to 20 are very schematic views further illustrating other embodiments of an installation according to the invention; and
• Figures 21 and 22 are very schematic top views illustrating other embodiments of an unloading table.

Detailed Description of Preferred Embodiments General description of an embodiment of the installation and of its operation

An embodiment of a cutting installation and automatic unloading allowing the implementation of a method according to the invention is illustrated in Figure 1 very schematically.

The cut is performed on a cutting table 10 constituted by the upper horizontal strand of an endless conveyor 12. This is lodged, with the exception of its upper surface delimiting table 10, the inside of a box 14. Suction means, such as extractors 16, are arranged inside the box in order to establish a depression.

The conveyor 12 consists of support blocks 12 having a gentle or passages communicating the interior of the vessel with the table surface 10. The blocks 12, for example of plastics material, comprises a base from which protrude a plurality filiform elements. In this way, a blade can penetrate into the surface of the table 10 to move horizontally in all directions without being damaged and without damaging the support blocks 12 a.

A flexible sheet material to be cut, for example a fabric T is brought on the table 10 in superposed layers forming a mattress 20. This is performed on a quilting table 22, upstream of the cutting table. The advance of the mattress 20 on the cutting table in the direction X is performed by control of the drive motor (no shown) of the conveyor 12.

A transparent plastic film 30 made of air-tight plastic, by example a polyethylene film taken from a roll 32, is deposited on the mattress 20 to cover it completely.

The cut of the mattress 20 carried by the table 10 and covered with film 30 is made by means of a cutting head 40. The cutting head can be brought into any position above the cutting table 10 by controls its horizontal movement parallel to the direction longitudinal X of the conveyor 12 and in the transverse direction Y perpendicular to X.

The cutting head 40 is mounted on a block 42 which is movable in the Y direction along a transverse beam 44 under the control 46. The beam 44 is guided at its ends along the longitudinal edges of the conveyor 12 and is driven in the X direction under the control of a motor 48. The drive of the block 42 can be realized conventionally via cables or, as in illustrated example of worm 47. The drive beam 44 can also be realized by means of cables or worm or, as illustrated, by toothed wheels and racks 49, these being mounted on the upper longitudinal edges of the casing 14.

The cutting head 40 carries a cutting blade 50 suspended vertically and passing through a crowbar 52. The blade 50 and the crowbars 52 are movable between a raised position (rest) and a lowered position in which the crowbar is in contact with the mattress 20. The cutting of the mattress is performed by driving the blade 50 in reciprocating vertical movement and moving the cutting head 40, the blade 50 and the crowbar 52 being furthermore orientable about an axis vertical to follow the outline of the pieces to be cut in the mattress.

The movements of the cutting head 40 in X, Y, lowering and raising the cutting blade 50 and the crowbar 52, the reciprocating vertical movement of the blade 50 and the angular orientation of the cutting blade 50 and the crowbar 52 are controlled at means of a control unit, or computer 18, via links and drive members (not shown). The calculator 18 also controls the advance of the conveyor 12 and the depression of the box 14 whereby the mattress 20 covered with the waterproof film 30 is firmly held on the cutting table 10.

An installation as described above is well known the skilled person. For example, we can refer to the document US-A-3 848 490.

The movements of the cutting head in X, Y are ordered to cut the pieces in the mattress following a predetermined placement by forming stacks of coins. 24. During the cutting, the orientation of the cutting blade 50 is controlled so it stays tangent or tangentially tangent to the outline of the room cut. When a section of the mattress 20 presents on the cutting table 10 was cut, with the film 30, an advance of the conveyor 12 is ordered to bring a new section of the mattress, or a new mattress on the cutting table. It is also possible to realize mattress advance without cutting interruption, lengths successive mattresses being brought into a work area of the cutting table 10, as and when the progress of the operation of chopped off. A method for achieving the advance of the mattress in time masked during cutting is described in WO-A-95102489.

The placement operation, prior to cutting, consists of determine the locations of the pieces to be cut. The placement is realized in order to minimize material losses, while respecting certain constraints (respect of the straight line, minimum spacing between pieces to cut ...). Prior to cutting, and as described later in a detailed manner, the areas of the mattress are defined on the surface of the mattress 28 lines cutting the skeleton of the mattress. These locations are selected to perform, during the cutting operation, a splitting of the skeleton as it allows the successive subsequent separation of the piles of parts and skeleton parts by simply moving parallel to the surface of the mattress.

Placement information relating to the locations of pieces on the surface of the mattress and the fragmentation information of the skeleton relating to the locations of the skeleton cut lines on the surface of the mattress, are recorded in a memory of calculator 18.

Downstream of the cutting table 10, the mattress arrives in a unloading station comprising an unloading table 60 located in the extension and substantially at the same level as the table of chopped off.

The unloading table 60 (FIGS. 1, 2) is formed by the upper wall of a box 62. Blower means 64 are connected to the box 62 to establish an overpressure inside thereof. The surface 61 of the table 60 has a multitude of orifices 66 communicating with the interior of the box 62 so as to create a air cushion on the surface of the table 60. It should be noted that the means of wind tunnel may be constituted (at least in part) by the means suction 16, the air sucked by them being injected into the casing 62. table 60 has a flange 68 at its upstream edge which connects it with the cutting table 10.

Under the effect of the advance produced by the conveyor 12, the mattress 20 comprising the stacks of cut pieces 24 and the part complement, or skeleton 26, is gradually brought to the horizontal surface 61 of the unloading table 60, without modifying the relative positions of stacks of coins 24 and skeleton 26. Each stack of coins 24 is surmounted by a corresponding cut-out portion of the film 30. In addition, the skeleton 26 is fragmented by cuts 28 made during the cutting phase of the parts, in locations predetermined. .

One or, as in the example illustrated, a plurality of receiving trays are arranged along one or more longitudinal edges and downstream of the unloading table 60. It may for example provide trays 70 a and 70 b located along longitudinal edges of the table 60 for discharging the skeleton 26 by fragments and trays 72a, 74 a, 72 b, 74 b and 76 ... located along the longitudinal edges and the downstream edge of the table 60 for receiving batteries 24 of cut pieces.

Unloading piles of coins and fragments of skeleton 26 is realized by means of an unloading tool 80 which can be brought in any position above the unloading table and receiving bins by controlling its horizontal displacement parallel to the longitudinal direction X 'of the table 60 and to the direction transverse Y 'perpendicular to X'.

The unloading tool 80 (FIGS. 1, 2, 3) is mounted on a tool support 82 which is movable in the Y direction along a beam 84, under the control of a motor 86. The training of the support 82 can be realized by means of cables or, as in illustrated example of worm 87. The beam 84 is guided to its ends along longitudinal guides and is driven in direction X ' under the control of a motor 88. The drive of the beam 84 can be made by means of cables or worms or, as illustrated, by toothed wheels and racks 89, these being mounted on longitudinal guides.

The unloading tool 80 (FIG. 3) has an end 90 in finger shape or cup, for example of rubber, fixed at the end a telescopic rod 92 constituted, for example by a jack. The stem 92 is rotatably mounted in a bearing 94 integral with the support tool. A motor 96 is connected to the rod 92 to drive it rotation around its axis A perpendicular to the unloading table 60.

The displacements of the unloading tool 80 at X ', Y', lowering and lifting the end of the tool by means of the rod 92, and the rotation of the tool about the axis A are controlled by the computer 18 via links and drive members (not shown) The computer 18 also controls the setting pressure of the box 62 for generating an air cushion on the surface from the unloading table.

Stacks 24 of cut pieces are unloaded successively by means of the unloading tool 80, when they are reached table 60 and can be cleared from the mattress without interfere with other stacks of remaining pieces whether it's directly or via fragments of the skeleton 26 of the mattress. In this Indeed, the unloading tool is brought to the vertical of each new stack of parts to be unloaded using the information relating to placement of the pieces in the mattress stored in memory of the calculator 18. The position of each stack of cut pieces is in known effect from the placement information, which determines the coordinates of the parts compared to an origin on the mattress, and the advance made by moving the conveyor 12. It is the same for each skeleton portion of the mattress. The movements of the tool unloading, to clear each stack of pieces, without interfering with those remaining in the mattress, and unload it in the tray of corresponding reception, are ordered from information from predetermined clearance and discharge stored in memory of the calculator 18 with the coin placement information and fragmentation of the skeleton. A process of determining Clearance information is described further in detail. It can be the same for at least some parts of the skeleton.

It will be noted that the dimensions of the unloading table 60 are chosen to allow moving the stacks of pieces or skeleton portions separated from the mattress without interfering therewith. Thus, the table 60 is preferably given a width substantially greater than that of the cutting table 10. In the illustrated example, the The width of the table 60 is twice that of the table 10, the latter having same median longitudinal plane. Moreover, the length of the table 60 is chosen so that it is at least equal to the largest dimension possible parts to be unloaded in the X direction.

In addition, stacks of pieces intended to be grouped after unloading can be divided into two tanks located on either side of the table 60, for example bins 72 a, 72 b or the trays 74 a, 74 b. This directs a stack of coins near a longitudinal edge of the mattress to the nearest bin without having to bypass the portion of the mattress remaining on the table 60.

Predetermination of mattress skeleton fragmentation and ranks and corridors and clearance

The flowchart in Figure 4 shows in a general way the different stages leading to the definition of a placement of pieces and skeleton cut lines on the surface of a mattress, at the determining the order in which stacks of parts and parts of skeleton will be released from the mattress and unloaded after cutting, and the definition of the corridors of clearance that will have to be followed during the unloading.

The first step 401 consists in placing the pieces to be cut on the surface of the mattress 20. FIG. 5A shows an example of placement on the front (or downstream) part of the mattress, only pieces A to K being shown. An origin of X and Y coordinates is fixed arbitrarily on the mattress 20 at a point O, vertex of the angle formed by the front edge 20c and a longitudinal edge 20a of the mattress.

Automated placement methods are well known. They aim to make the best use of the available material while respecting certain constraints, for example respect of the right-thread of a fabric or Maintaining a sufficient spacing between contours of neighboring rooms (to avoid, when cutting, a possible "jump" of the cutting blade in a trajectory too close already traveled). In the example shown, the placement is obviously not optimized, the spaces between pieces being exaggerated for better clarity of the drawings.

The predetermination of cutting lines of the skeleton of mattress is intended to achieve such fragmentation of the skeleton that at the stage of unloading, stacks of cut pieces and skeleton parts can be released successively, being moved in parallel on the surface of the mattress, without interfering with the rest of the mattress.

A first step 402 of the process is to search in the placement of singular pieces.

A first category of singular pieces includes coins insulated having a surface, or even a width, too small to be able to be handled correctly by the unloading tool, that is to say small parts. We are therefore looking for pieces whose surface or the maximum width are less than threshold values predetermined, such as the piece I of Figure 5A. In order to facilitate their subsequent handling, these parts are left in unfragmented portions of the skeleton of the mattress that surround them, the separation between each of these pieces and the skeleton portion in which it is included being realized, for example manually, after unloading. For each singular piece of small dimensions, defines, around the room, an area not to be traversed by skeleton cutting lines, area having the area and width minimum requirements. For Part 1 of Figure 5A, this area is shown in broken lines.

A second category of singular pieces includes the nested parts with at least one other part and / or at least one skeleton part with interlocking shapes making impossible their mutual separation by translation parallel to the mattress surface. Such pieces can be detected by searching those for which the contour defines, analytically, a function with a derivative sign inversion, regardless of the direction taken as the coordinate axis.

Figure 6 shows an example of such a singular piece L nested with a part of Sx skeleton. We then define a line of 28LL skeleton cut that isolates the nested portion Sxl from the part skeleton Sx by joining two points of the contour of the piece L, without cross this one. Automatic search for the location of the line 28LL can be done by defining the virtual outline of an envelope deduced from the piece as it might be by taking the envelope convex followed from the geometry of the piece. Such an envelope convex, or trajectory, can be simulated by taking curves of Bezier relying on each of the segmented contour portions of the piece, and proceeding to their unification. The group formed by the meeting of the piece L and the skeletal portion Sx1 is then treated as a single piece, the separation between the piece L and the skeleton portion Sxl being performed, for example manually, after unloading this together.

Figure 7 shows an example of other singular pieces M and N interwoven with each other. Because a cut through the pieces M or N is impossible, the set M + N constituted by the meeting of parts M and N is treated as a single piece. The separation between parts M and N can be done manually, after the phase of unloading.

Of course, the principles described above apply to nested singular pieces with several skeleton parts and / or other rooms.

In the example given below, the cutting lines of the skeleton are segments of straight lines that connect to the outlines parts at particular points of these outlines. By points particulars, here we mean vertices of angles or points of cusp or, more generally, points where the radius of curvature the contour is very small, less than a given value. Alternatively, the skeleton cutting lines may be non-rectilinear, for example curved to connect to the contour of the pieces by being tangent or substantially tangent to this contour. Still as a variant, the points of connecting the skeleton cut lines with the contours of the parts may be other than the particular points defined above, in particularly when the outline of a part does not have such points. (case of a circular piece). We can then choose the points of the outline having the largest coordinates and those having coordinates the smaller ones in the two directions X, Y.

A second step 403 of the placement of cutting lines of skeleton is to define a splitting of the edge areas of the skeleton. For this purpose, for each room adjacent to one (or more) edge of the mattress, we search for example the nearest point of this edge (or each edge) and we define a cutting line joining this point at the edge of the mattress, preferably perpendicular to that edge.

The different parts of the mattress are for example taken to from piece A, closest to origin point 0, then stowed by row, in the Y direction, alternately in one direction and the other.

Thus, as shown in Figure 58, from Part A, we define two cutting lines 28A and 28A has c to 20a and edges 20 c of the mattress. From the pieces B, C, D, lines 28B c , 28C c , 28D c are defined, towards the edge 20c , and, from the piece E, two lines 28E c and 28E b are defined towards the edge 20 c and the longitudinal edge 20 b of the mattress opposite the edge 20 a . In the second row of pieces F to K, we define the lines 28F and 28K has b from the pieces F and K, to the edges 20 b and 20 a, the other GJ parts not adjacent to an edge . The splitting of the skeleton edge areas for the rest of the placement is continued in the same way.

A third step 404 of placing cutting lines of skeleton is to define a splitting of the inner part of the skeleton to achieve cutting continuities from a longitudinal edge to the other, that is, transversely to the direction longitudinal of the mattress. We can, for example, but not necessarily, proceed row of pieces per row of pieces.

Thus, for parts A to E, skeleton cutting lines 28AB, 28BC, 28CD and 28DE are defined joining the contours of parts A and B, B and C, C and D, and D and E (FIG. 5C). The connection to these contours is, in the example shown, at particular points having the abscissa (X) as high as possible, that is to say as far as possible from the edge 20 c .

It is of course necessary that a cutting line of skeleton does not cross a location of a room or even, passes a minimum distance from the outline of rooms other than those that it connects. This is why the connection between room C and the piece D is between the particular point c of the coin C and the point particular of the piece D, the particular point d of the piece D of abscissa the higher being inaccessible from point c without crossing the area the surrounding room 1 (it might also be considered to link points c and d by a non-straight cut line, passing off the location zone I ').

Cut lines 28FG, 28GH, 28HJ and 28JK are defined similarly, and the same is true for the rows following (not shown). It should be noted that, because of its character "small room", room 1 is not connected to a neighboring room by a cutting line of the skeleton part that surrounds it.

A fourth step 405 of placing cutting lines of skeleton is to define a splitting of the inner part of the skeleton in a longitudinal or substantially longitudinal direction. In the illustrated example, this is achieved by establishing a continuity of cutting the skeleton between rows of neighboring pieces, on one or several lines, so as to define parts of the skeleton presenting a minimum of concavity, in order to be more easily manipulated.

• on recherche les sommets d'angles "rentrants" en partant d'un côté du matelas (par exemple le côté 209), jusqu'à la partie médiane puis, ensuite, en partant du côté opposé du matelas,
• on ne sélectionne que les angles "rentrants" les plus marqués, par exemple en ignorant ceux dont la distance par rapport à un angle rentrant déjà sélectionné ou à un point où aboutit une ligne de découpe déjà prévue, est inférieure à une valeur donnée, et
• chaque sommet d'angle "rentrant" sélectionné est relié par une ligne de découpe au point caractéristique de motif le plus proche dans la direction X.

For this purpose, one can seek to eliminate angles "reentrant" or inclusions. This can be done, at least initially, by examining the skeleton portion upstream of the first row of pieces and looking for the vertices of the concave portions, or "re-entrant" angles. To take into account that the number of skeleton cuts should be as small as possible, to optimize mattress cutting times and evacuation of parts, skeleton, and that evacuation of stacks of parts and skeleton parts can be performed not only towards the front of the mattress, but also laterally, on each side of the mattress, the "reentrant" corner vertices are selected and used for example as follows:

• we look for the vertices of angles "reentrant" starting from one side of the mattress (for example the side 209), until the median part then, starting from the opposite side of the mattress,
• only the most important "inside" angles are selected, for example by ignoring those whose distance from an already selected re-entrant angle or at a point where an already planned cutting line ends, is less than a given value, and
• each selected "re-entrant" corner vertex is connected by a cutting line to the nearest pattern characteristic point in the X direction.

Thus, as shown in Figure 5D, what are selected the vertices of reentrant angles k, j, j ', h, f and g and ignored the vertices such as g 'and h'), and that lines 28BK, 28BJ are defined, 28'BJ, 28DH, 28DF and 28DG.

We can also, at this stage, possibly search if cutting lines must be defined to minimize the size of skeleton parts in which are included small pieces dimensions. This can be achieved by searching in the environment small parts, if there is the possibility to add one or several lines of cuts joining particular points of contours of parts and to reduce substantially (beyond a determined reduction threshold, the surface of the skeletal part concerned. This research must be carried out respecting the minimum of the area in which the small parts must be included. In the example shown, this amounts to defining the line 28HJ, as shown in FIG SE, to minimize the portion of skeleton including the piece J.

The next step 406 of the process of Figure 4 consists of determine the order in which stacks of parts and skeleton parts will have to be clear of the mattress and the clearance corridors they will have to follow to be unloaded at the desired location without interfere directly or indirectly with the pieces not yet clear. This step may include a split possible addition of the mattress in the case where a impossibility of release under these conditions.

A corridor is characterized by a direction preferred slip and a width, the latter being determined by the extreme geographical limits of the part or part of the skeleton concerned, in a direction orthogonal to the sliding direction. The preferred sliding direction may be rectilinear or not, the room clearance that can be made according to movements possibly combined translation along a line parallel to the mattress surface and rotation about an orthogonal axis to the surface mattress.

In general, the automatic search for a corridor of clearance for a part or part of skeleton takes into account the surface available on the release table, the need for clear each stack of pieces or skeleton part without interfering with the pieces remaining in the mattress and the wish to search the path the shorter distance to the corresponding receiving device.

In the illustrated example (FIG. 5F), it is possible to start from the skeleton portion S1 closest to the origin point O. A clearance corridor can be found in the sliding direction dS1 (shown only in part). We then continue by examining successively the parts and parts of skeleton A, S2, B, S3, C, S4, located along the edge c c of the mattress, and determining the sliding directions dA, dS2, dB, ... For each piece or part of a skeleton for which a clearance corridor has been found, there is a clearance rank (the skeletal portion S1 has the rank 1, the coin A the rank 2, the skeletal portion S2 the rank 3 , coin B rank 4, and so on). '

When we reach the room D, we see that it can not be released. Then passes to the following parts and skeleton portions until the skeleton portion S6 adjacent the edges 20 c and 20 b, which is the first for which a clearance lane can be found. From the skeleton portion S6, the remaining pieces and skeleton portions are examined, always taking priority those closest to the edge 20c, which allows to find clearance corridors and sliding directions for the parts and part skeleton E, S5 and D.

Then continue from the room or part of skeleton closest to the front edge of the mattress (in this case the skeleton including part 1).

FIG. 5F is a diagrammatic representation for each piece or part of the skeleton, the initial part of the direction of slip and, in parentheses, the rank of clearance.

In what precedes, it is envisaged to determine a corridor clearance for each skeleton portion. However, in the case from skeletal parts reduced to small fragments, for example less than a given minimum value, may refrain from determining a corridor of clearance, these fragments being unable to obstruct the unloading and disposal of batteries parts and other skeleton parts.

The locations and shapes of the cutting lines 28 constitute fragmentation information of the skeleton that are stored in the calculator 18 with the placement information parts for subsequently controlling the cutting tool (step 407).

• un rang de déchargement ou évacuation,
• une information de préhension relative à l'emplacement à la surface de la pile de pièces ou de la partie de squelette où doit être amené l'axe de l'outil de déchargement (cet emplacement pourra être le barycentre de la surface de la pile de pièces ou partie de squelette),
• des informations de dégagement comprenant des informations relatives à la direction de glissement devant être suivie par la pile de pièces ou partie de squelette, incluant des rotations éventuelles qui doivent lui être imprimées, pour que la pile de pièces ou partie de squelette soit dégagée du matelas sans interférer avec les piles de pièces non encore déchargées et par un mouvement uniquement parallèle à la table de déchargement, et
• une adresse de déchargement ou d'évacuation qui identifie l'emplacement où la pile de pièces ou la partie de squelette doit être déchargée, c'est-à-dire les coordonnées du dispositif de réception de cette pile de pièces ou d'évacuation de cette partie de squelette.

Also stored in the computer 18 (step 408) unloading and evacuation information that is associated with the stacks of coins 24 and at least some parts 29 of skeleton and which include for each:

• an unloading or evacuation rank,
• gripping information relating to the location on the surface of the stack of parts or the skeleton portion where the axis of the unloading tool is to be brought (this location may be the center of gravity of the surface of the stack of parts or part of skeleton),
• release information including information relating to the direction of slip to be followed by the stack of parts or skeleton portion, including any rotations to be printed to it, so that the stack of parts or skeleton portion is clear of the mattress without interfering with the piles of parts not yet unloaded and by a movement only parallel to the unloading table, and
• an unloading or evacuation address that identifies the location where the stack of parts or skeleton portion is to be discharged, i.e., the coordinates of the receiving device of that stack of parts or the evacuation of this skeleton part.

Performing the unloading

Figure 8A shows an example of stacks of coins 24 cut-outs and cutting lines 28 formed in a mattress according to the placement information of parts and skeletal fragmentation, according to the example of FIGS. 5A to 5E.

The mattress 20 is advanced and its cut portion reaches the surface 61 of the unloading table 60.

Unloading stacks of parts and evacuating skeleton fragments are made by ordering the tool of unloading from unloading and evacuation information, according to a pre-established process, as described above with reference to the Figure 5F. Unloading can be done at the end of a phase in advance of the mattress, or during it.

8B shows the movement of the first part S1 of skeleton, located at the downstream end of the mattress, to discharge tray 70 a.

FIG. 8C shows the displacement of the first stack of pieces A, the clearance of which has been made possible, without interfering with the rest of the mattress, thanks to the evacuation of the first skeleton portion. Stack of pieces A is brought by the unloading tool to the receiving tray 72 a .

Figure 8D shows the motion imposed on the stack of coins C, at a later stage of unloading. The release of this battery is realized by turning it on itself, at the beginning of its corridor of release, by imposing a rotation to the unloading tool around from its axis which is located at the gripping point on the pile of rooms.

The training of each stack of pieces is achieved by simple contact between the unloading tool, whose displacement is ordered, and the upper surface of the stack of parts or part of skeleton. For this purpose, the unloading tool is brought into position raised up to the vertical of the gripping site, and is lowered to bear on the stack of parts or the skeleton part. At the same time, an air cushion is established on the surface of the table unloading to be able to move the stack of parts or the part of skeleton parallel to the surface of the table, without friction.

Variations of realization

The connection between each stack of pieces or part of skeleton and the release tool can be reinforced by providing the latter with a needle that enters the stack of coins or the skeleton part on a limited depth when the cup is brought into the lowered position at contact of the coin pile.

Moreover, in the above, it is envisaged to accompany each stack of pieces or part of skeleton by the tool of unloading to the corresponding receiving or evacuation tank. Alternatively, the clearance and evacuation information may be used to control the unloading tool, in a first time, to ensure complete clearance of the stack of parts or the part of the skeleton in relation to the mattress and, secondly, to give a sufficient momentum of movement so that the stack of pieces or the skeleton part moves alone to the tray chosen reception or evacuation. The momentum of movement can be given by imposing on the tool an acceleration over a limited distance in the proper direction. The unloading rate can thus be increased, displacements of the unloading tool being reduced.

It may be desirable that stacks of cut pieces collected in the receiving bins are free of the fraction of the film 30 which has been cut with them and which overcomes them.

For this purpose, one advantageously uses a tool of unloading 80 'as shown in Figure 9. The tool 80' differs from that of Figure 3 only by the fact that the cup 90 is connected to suction means (not shown) by a flexible pipe 98 equipped with a valve 99.

The valve 99 is opened, to put the cup 90 under suction, after the unloading tool has been applied to the gripping site of a stack of parts 24 to be unloaded and before it has reached the top of the receiving tray corresponding, for example 74 b , following the path T ₁ (Figure 10). Under the effect of the suction, the fraction 31 of the sealing film remains in contact with the cup 90, after the falling of the parts in the receiving tray and can be brought to a discharge tray for example the tray 70a d ' removing skeletal fragments of the mattress, guiding the unloading tool on a path T ₂ between the trays 74 b and 70 a . When the tool has reached the top of the tray 70 a, the valve 99 is closed, thereby interrupting the suction and releases the portion 31 of film. The tool is then brought, in the raised position, to the vertical of a new stack of parts to be discharged (trajectory T3), or a fragment of skeleton mattress to evacuate.

FIG. 11 illustrates another embodiment of an unloading tool 80 "which differs from that of FIG. 3 in that the rod 92 ends not by a cup but by a set of several fingers, for example at the number of three 90a, 90b, 90 c. the fingers are articulated at the ends of arms 91 a, 91 b, 91 c which are pivotable relative to the end of the rod 92 so as to adjust the mutual spacing of the fingers. the pivoting of arm 91 a, 91 b, 91 c is achieved, individually or concomitantly, by motor means 93 controlled by the computer 18.

This realization of the unloading tool allows, in the case pieces or skeleton parts of large dimensions, to come into support in different areas distant from each other from the surface of the stack of pieces or part of skeleton, the coordinates of the gripping location always corresponding to the axis of the rod 92. The training of the stack of pieces or part of skeleton along its clearance path, and its eventual rotation on itself can then be made more safely.

In the above, consideration has been given to skeleton parts to the evacuation tray (s) by means of the tool unloading, controlling the movement of it along a predetermined trajectory. This is feasible and is justified when the skeleton parts are relatively large in size and that their evacuation from the unloading table is necessary not to hinder the unloading of parts.

However, it is possible that after cutting, there are small skeletal fragments whose presence, on the unloading table, does not present a real obstacle to unloading parts, even if are on the trajectory of these.

It remains desirable to evacuate these fragments, either periodic, at the end of the unloading process of all the parts an investment. This can advantageously be achieved by scanning from the surface of the unloading table.

For this purpose, as shown in FIG. unloading 80 may be provided with a retractable scanning device, for example a squeegee 95. This is mounted at the end of a jack 97 supported by a plate secured to the rod 92.

The cup 50 being in the raised position, the squeegee 95 can be lowered in the immediate vicinity of the surface of the unloading table by means of the cylinder 97. The displacement of the block 82 and the rotation of the rod 92 are then controlled from a predetermined program to scan the surface of the unloading table and remove the fragments of skeleton collected in one or other of the discharge trays 70 a, 70 b.

For the evacuation of small fragments of skeleton, it is in conceivable variant of providing the unloading tool 80 with a needle retractable located in the axis A of the tool. The needle can be disengaged function lowered, beyond the cup 90, to come into contact with the surface of a small fragment of skeleton to clear the mattress, and evacuate the fragment by displacement of the tool, since a rotation of the fragment is not necessary.

In the embodiment of FIG. 13, the tool of unloading 80, for example identical to that of FIG. 3, is associated with printing means 100 mounted on the tool support 82. So, the stacks of loose parts of the mattress can be identified by marking at their upper surface, on the film portion 30 cut, to facilitate the subsequent processing of batteries. Printing can be performed while moving the stacks of coins by means of the unloading tool. Stacks of cut pieces are then evacuated without being stripped of film fractions 30.

The printing means 100 are for example constituted by an ink jet print head of a type known per se available in trade. The flexible duct supplying the head 100 with ink, as well as drivers carrying the control signals of the transmission of the ink jet and feed jet deflection plates are housed at the inside of a flexible umbilical cord 103 connecting the head 100 to its unit control unit 102. The control unit 102 is connected to the computer 18.

For the execution of the marking, the print head 100 is controlled by the computer 18 based on data relating to information to be marked and a marking format. The nature of characters to be printed is determined by the information to be marked and the Character size is determined by the marking format.

The information to be marked and the marking format are prerecorded in the memory of the calculator 18 in relation to the piles of parts to be unloaded. The marking format depends on the dimension of the pieces.

In the embodiment of FIG. 14, the tool of unloading 80, for example identical to that of FIG. 3, is associated with labeling means 110 mounted on the tool support 82. The labeling means 110 may be constituted by a labeler of known type available commercially.

In the illustrated example, the labeler 110 comprises a strip of paper or similar support 112 on which are fixed self-adhesive removable labels 114. The strip 110 carrying blank labels is unwound from a supply roll 110 and is fed successively in front of a print head 116 and 118 to a sampling device and label application before being wound onto a receiving roll 110 b .

The print head 116, for example of the thermal type or inkjet, allows the printing of labels as and when measurement of needs. The device for removing and removing labels comprises a jacking cylinder 118 whose rod is provided at its end with suction cups for taking printed labels taking off from the support 112. The positioning cylinder 118 is rotatable around a vertical axis 111 in order to clear each label to be posed and to present it with any desired orientation. The rotation of cylinder 118 is controlled by a motor 119.

The operation of the labeler 110, including the rotation debtor and receiver rollers, in order to bring the labels successively in the printing position and in the laying position, the operation of the integrated print head 116, the collection of printed labels to be deposited, the orientation of the removal cylinder of labels 118 about the axis 111 and the actuation of the removal cylinder 118 are controlled by the computer 18, the necessary signals being transmitted to the labeler by a cable (not shown).

Marking devices other than labeling machine or head inkjet printing can be used, for example devices performing printing on the film 30 by heat.

In order to reduce the unloading time, by optimizing time of use of the unloading tool, specific means may be provided to clear skeletal parts and evacuate them, in particular the parts along the longitudinal edges of the mattress.

Thus, Figure 15 shows an alternative embodiment of the unloading station wherein two discharge tools 120 a, 120 b are provided, respectively on either side of the unloading table 60 at its upstream end 60a whose width is substantially equal to that of the cutting table.

Each evacuation tool (FIGS. 15 and 16) comprises a horizontal arm 122 pivotally mounted at one end at the top of a support, under the action of a motor 124. The arm 122 can be a telescopic arm, for example constituted by a jack. The arm 122 carries at its other end a vertical telescopic rod formed by a cylinder 126 and provided at its end with a piece 128 in the form of a cup, for example rubber. The motor 124 and the jack 126 are controlled by the computer 18 to bring the cup 128 vertically and then in contact with the gripping locations of the successive portions of the mattress skeleton located along the longitudinal edges of the mattress reached on the unload table, then to evacuate the bringing these fragments in a discharge tray 71 adjacent a or 71 b.

When unloading the stacks of coins, it can be advantageous to package these individually to avoid their decohesion, which would complicate the subsequent use of the coins discharged.

For this purpose, each receiving tray may be provided with a bagging device 130 (FIG. 17). This includes for example a sheath 132 of heat-sealable plastic material. Each stack of coins is discharged into the sheath 132 associated with the receiving tray corresponding and it is closed by heat sealing and then cut by means of heating tools 134, 136 in a manner well known per se.

Stacks of packaged parts may be marked with means of a marking device placed immediately out of the bagging device. Stacking of parts does not require then not the mounting of printing or labeling means on the Unloading tool support and stacks of parts can be freed from the film fraction which overcomes them, unlike what is provided in the embodiments of Figures 13 and 14.

The marking of the stacks of packaged parts can be realized by means of an inkjet printing device or a labeler similar to those described in connection with Figures 13 and 14.

The unloading of the stacks of parts can be achieved by grouping the batteries in different receiving bins, for example bins 72a, 72b, 74a, 74b, 76 of the installation of Figures 1 and 2, depending on the subsequent use of the parts.

According to an alternative embodiment, the stacks of pieces, or at least part of them, may be deposited in an order determined on a transport device, for example a conveyor, which routes them to a manufacturing facility. The order of disposition of stacks of parts on the conveyor is advantageously determined by according to the sequence of use in the production workshop.

Thus, FIG. 18 is a view from above showing a zone of unloading which differs from that of Figures 1 and 2 in that the ferry 76 located along the downstream side of the unloading table is replaced by a conveyor 140.

The conveyor 140 advantageously comprises cells of receiving 142 juxtaposed in the longitudinal direction, It is moved by motor means (not shown) controlled by the computer 18, and moves in the unloading area, parallel to the downstream side of the table 60 in one direction and in the opposite direction.

Unloading each stack of pieces intended for conveyor 140 is carried out in the cell 142 desired by controlling the moving the unloading tool 80 and the conveyor position 140 depending on the unload address specified for the stack of rooms.

According to another variant embodiment, the means of receiving the stacks of parts evacuated from the unloading table may include one or more stage carriages.

Thus, Figure 19 shows, very schematically, in elevation and in section, an unloading zone which is different from that of FIGS. 1 and 2 in that the receiving tray located along the downstream side of the unloading table 60 is replaced by a carriage 150 comprising several compartments 152 superimposed. The carriage 150 is mobile vertically, under the action of motor means (not shown). The vertical position of the carriage 150 is controlled by the calculator 18 so that to select the compartment 152 in which a stack of coins must to be evacuated.

FIG. 20 is a very schematic top view illustrating yet another embodiment of an installation according to the invention.

This installation comprises several cutting tables 10 ₁ , 10 ₂ , 10 ₃ , .... arranged parallel to each other. An unloading table 160 is movable on rails 162 parallel to the Y direction of the cutting tables so that it can be brought into line with any one selected from the cutting tables.

The means of evacuation of the piles of pieces and fragments of skeleton advantageously include conveyors that extend all along the path of the unloading table, parallel to the rails 162. Thus, a conveyor 164 passes under the unloading table, at its upstream end, to collect the skeletal fragments, while a conveyor 166 extends along the downstream side of the unloading table, to collect piles of coins. At least one additional conveyor 168 can be provided, which passes under the unloading table, by example in its middle part, to collect stacks of coins. The conveyors 164, 166, 168 are driven by drive means (no represented) controlled by the computer 18. The conveyors 166 and 168 may be provided with compartments, or cells, of the same way that the conveyor 140 of Figure 18, to distribute the piles of parts in a predetermined manner.

Figure 21 illustrates very schematically a variant of realization of the unloading table 60 'which is different from that of Figures 1 and 2 in that the housing 62 is compartmentalized.

The surface of the table 60 'is divided into several zones each corresponding to a compartment 63 of the box 62. compartments are individually connected to the blower means by through inputs 63a provided with shutters 65. The shutters 65 are individually controlled by the calculator 18 to be moved from an open position to a closed position; Or vice versa.

Selective intake of air under pressure in compartments 63, by actuating the shutters 65, allows to generate a cushion of air in localized areas of the surface 61. For each stack of parts or part of skeleton of mattress to be unloaded or evacuate, it is then possible to limit the creation of an air cushion to areas traversed by the trajectory of the stack of pieces or fragment of skeleton. This results in appreciable energy savings. In addition, parts not yet unloaded not being submitted or not being completely subject to an air cushion, their position on the table of unloading is less likely to be disturbed.

It will be noted that the segmentation of the fan table 60 ' with the production of a localized air cushion should not be performed when phases of advance of the mattress on the table, so as not to disturb this advance.

Figure 22 illustrates yet another embodiment of the unloading table 60 "which differs from that of Figures 1 and 2 in that its surface is formed by a ball carpet 67, and means of wind tunnel are not planned.

Stacks of pieces to be unloaded and fragments of skeleton mattresses to be evacuated are moved by rolling them on the balls 67a of the carpets, these being mounted crazy in housing form correspondingly projecting slightly on the surface of the table 60 ". In this way, the friction on the table is very small and the movement of stacks of pieces and skeleton fragments can, as before, be carried out by means of a tool simply resting on their Mountain peak.

In the foregoing description, it has been envisaged of pieces in a mattress formed of layers of fabric stacked. Like him has already been indicated, the invention is also applicable in fields other than that of the manufacture, for example the cutting of fabrics for car upholstery or upholstery, or textile cutting in other areas of the industry. Moreover, although the invention has been described in connection with cutting and unloading stacks of pieces cut from several layers of flexible material sheet, it also applies in the case where cutting is performed in a single layer of sheet material, the mattress being reduced to a single fold of material and each stack of pieces being reduced in one piece.

Claims (40)

1. A method of automatically cutting out and unloading pieces from a ply of sheet material or stacks of pieces from a lay-up (20) made up of superposed layers of sheet material, the method comprising: cutting out pieces from the ply or stacks of pieces from the lay-up on a cutting table (10), on the basis of recorded information relating to the locations of the pieces on the surface of the ply or of the lay-up, and unloading (80) the pieces or the stacks of pieces by means of at least one unloading tool that is controlled automatically, the method comprising the steps consisting in:

   splitting up the skeleton of the ply or of the lay-up (20) into a plurality of portions while the pieces or the stacks of pieces are being cut out on the cutting table (10);

   progressively bringing the ply or the lay-up above an unloading table (60) with the ply or the lay-up comprising the cut-out pieces or stacks of pieces and the skeleton of the ply or of the lay-up as not separated from one another; and

      successively unloading the cut-out pieces or stacks of pieces and portions of skeleton by causing the unloading tool (80) to be moved so as to bring it into contact with the pieces or the stacks and the portions of skeleton that have arrived above the unloading table, by using the information relating to the locations of the pieces, on the surface of the ply or the lay-up, and so as to take off each piece or stack from the remainder of the ply or of the lay-up merely by moving it substantially parallel to the plane of the ply or of the lay-up, without interfering with the pieces or the stacks of pieces and the portions of skeleton that have not yet been unloaded, the cut-out pieces or stacks of pieces and portions of skeleton of the ply or of the lay-up being unloaded in a manner such as to clear the way on the unloading table (60) for the pieces or the stacks of pieces and the portions of skeleton that have not yet been unloaded.
2. A method according to claim 1, characterised in that the pieces or the stacks of pieces are caused to slide over the unloading table (60).
3. A method according to claim 2, characterised in that, while they are being moved over the unloading table, the pieces or the stacks of pieces are supported by a cushion of air.
4. A method according to claim 1, characterised in that the pieces or the stacks of pieces are caused to move over the unloading table (60") on rolling means.
5. A method according to any one of claims 2 to 4, characterised in that each piece or stack of pieces is driven over the unloading table (60) merely by bringing the unloading tool (80) to bear against the surface of the piece or of the stack and by moving said tool.
6. A method according to any one of claims 1 to 5, characterised in that, after it has been taken off from the remainder of the lay-up, each piece or stack of pieces is accompanied by the unloading tool (80) to a collector device.
7. A method according to any one of claims 1 to 5, characterised in that, after it has been taken off from the remainder of the lay-up, each piece or stack of pieces is propelled to a collector device under movement imparted by the unloading tool (80).
8. A method according to claim 6 or 7, characterised in that the unloaded pieces or stacks of pieces are directed to at least one collector device to constitute predetermined sets.
9. A method according to any one of claims 6 to 8, characterised in that the unloaded pieces or stacks of pieces are directed to at least one collector bin (72a, 72b, 74a, 74b, 76).
10. A method according to claim 6 or 7, characterised in that the unloaded pieces or stacks of pieces are directed to a collector device (140; 166; 168) to form therein at least one queue ordered in predetermined manner.
11. A method according to any one of claims 1 to 10, characterised in that at least some of the portions of the skeleton of the ply or of the lay-up are removed automatically from the unloading table.
12. A method according to claim 11, characterised in that at least portions of the skeleton that are situated along the longitudinal edges of the ply or of the lay-up are removed from the unloading table by automatic removal means (120a, 120b) that are distinct from the unloading tool (80).
13. A method according to any one of claims 1 to 12, characterised in that each set of a plurality of adjacent pieces or stacks in the lay-up whose pieces have shapes such that they are mutually interlocking is unloaded as a single piece or stack.
14. A method according to any one of claims 1 to 13, characterised in that each piece or stack of pieces of size smaller than a minimum predetermined value is included in a non-fragmented portion of the lay-up skeleton, the resulting set being unloaded as a single piece or stack.
15. A method according to any one of claims 1 to 14, in which the lay-up is covered with a plastics film prior to cutting out the pieces or the stacks of pieces, said method being characterised in that, prior to removing the pieces or the stacks of pieces from the unloading table, the portion of plastics film cut out with each piece or stack of pieces and situated on each piece or stack is taken off automatically.
16. A method according to claim 15, characterised in that each portion of plastics film situated on each cut-out piece or stack of pieces is taken off by means of the unloading tool (80), and then removed.
17. A method according to claim 15 or 16, characterised in that the portion of plastics film is taken off by suction.
18. A method according to any one of claims 1 to 17, characterised in that the unloaded pieces or stacks of pieces are wrapped individually;
19. A method according to any one of claims 1 to 18, characterised in that the unloaded pieces or stacks of pieces are marked.
20. A method according to claim 19, characterised in that the marking is performed by marking means (100; 110) carried by the unloading tool, before the pieces or the stacks of pieces are removed from the unloading table.
21. A method according to claims 18 and 19, characterised in that the marking is performed after the pieces or the stacks of pieces have been wrapped.
22. A method according to any one of claims 1 to 21, characterised in that unloading and removal information is stored that is associated with the pieces or the stacks of pieces and with at least some of the portions of skeleton, each item of said information comprising:

    an unloading or removal rank;

    an item of pick-up information relating to the location to which the unloading tool should be brought on the piece or the stack of pieces or on the portion of skeleton;

    take-off information comprising information relating to a slide direction to be followed by the piece or the stack of pieces or by the portion of skeleton; and

    an unloading or removal address.
23. An installation for automatically cutting out and unloading pieces or stacks of pieces from a ply of sheet material or from a lay-up (20) made up of superposed layers of sheet material, the installation comprising: a cutting table (10); first movement-imparting means (12) for moving a ply or a lay-up over the cutting table; a cutting tool (50); second movement-imparting means (46-49) for moving the cutting tool above the cutting table; a control unit (18) connected to the first and second movement-imparting means so as to cause the cutting tool and a ply or a lay-up carried by the cutting table to be moved relative to each other in order to cut out pieces or stacks of pieces from the ply or the lay-up as a function of stored lay-out information relating to the locations of the pieces to be cut out on the surface of the ply or of the lay-up; at least one unloading tool (80) for automatically unloading cut-out pieces or stacks of pieces; and third movement-imparting means (86-89) for moving the unloading tool and connected to the control unit so as, in particular, to bring the unloading tool up to the cut-out pieces or stacks of pieces to be unloaded;
       the installation further comprising an unloading table (60) above which the unloading tool (80) may be moved, and the control unit (18) being organized for:

    controlling the relative movements between the cutting tool (50) and a ply or a lay-up carried by the cutting table (10) in order to cut up the skeleton of the lay-up into a plurality of portions; and

    controlling the movements of the unloading tool (80) so as to bring it into contact with the cut-out pieces or stacks of pieces and portions of skeleton that arrive with a ply or a lay-up on a surface (61) of the unloading table (60) situated downstream from the cutting table (10), and so as to take off the cut-out pieces or stacks of pieces successively from the remainder of the lay-up by moving them over the unloading table merely by moving them substantially parallel to the surface of the unloading table.
24. An installation according to claim 23, characterised in that the surface (61) of the unloading table (60) has a plurality of orifices (66) and the unloading table is connected to blower means (64) so that it can support the cut-out pieces or stacks of pieces via a cushion of air.
25. An installation according to claim 24, characterised in that the unloading table (60) is subdivided into a plurality of sectors suitable for being connected selectively to blower means.
26. An installation according to claim 23, characterised in that the surface of the unloading table is provided with rolling means (67).
27. An installation according to any one of claims 23 to 26, characterised in that it comprises a plurality of cutting tables, an unloading table, and means for moving the unloading table in order to bring it selectively to the ends of respective ones of the cutting tables.
28. An installation according to any one of claims 23 to 27, characterised in that the unloading tool (80) is further mounted to move between a raised position and a lowered position so that it comes to bear against the top surface of a cut-out piece or stack of pieces by being moved from its raised position to its lowered position.
29. An installation according to any one of claims 23 to 28, characterised in that the unloading tool (80) is mounted on a tool support (82) which is mounted to move parallel to the unloading table (60) under the action of third movement-imparting means (86-89), the unloading tool further being mounted to rotate relative to the tool support about an axis perpendicular to the surface (61) of the unloading table.
30. An installation according to any one of claims 23 to 29, characterised in that the unloading tool (80) is provided with at least one finger (90) suitable for being brought into contact with a top surface of a cut-out piece or stack of pieces to be unloaded.
31. An installation according to claim 30, characterised in that the unloading tool (80") is provided with a plurality of fingers (90a, 90b, 90c) between which the spacing is variable.
32. An installation according to any one of claims 23 to 31, characterised in that the unloading tool (80') is provided with suction means (98, 99).
33. An installation according to any one of claims 23 to 32, characterised in that the unloading tool is provided with sweeping means (95) for sweeping the surface of the unloading table (60).
34. An installation according to any one of claims 23 to 33, characterised in that the unloading tool is provided with a retractable needle.
35. An installation according to any one of claims 23 to 34, characterised in that the unloading tool is provided with marking means (100, 110).
36. An installation according to any one of claims 23 to 35, characterised in that it comprises collector means for receiving pieces or stacks of pieces unloaded from the unloading table.
37. An installation according to claim 36, characterised in that the collector means comprise at least one bin adjacent to the unloading table.
38. An installation according to claim 37, characterised in that the collector means comprise at least one conveyor mounted to move along one side or end of or under the unloading table.
39. An installation according to any one of claims 23 to 38, characterised in that it further comprises removal means (120a, 120b) distinct from the unloading tool for removing the cut-out portions of the lay-up skeleton from the unloading table (60).
40. An installation according to claim 39, characterised in that the removal means (120a, 120b) are disposed at least in part laterally relative to the unloading table (60).

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