EP1144290A2 - Procede de depilage de feuilles empilees dans un chargeur - Google Patents
Procede de depilage de feuilles empilees dans un chargeurInfo
- Publication number
- EP1144290A2 EP1144290A2 EP00935255A EP00935255A EP1144290A2 EP 1144290 A2 EP1144290 A2 EP 1144290A2 EP 00935255 A EP00935255 A EP 00935255A EP 00935255 A EP00935255 A EP 00935255A EP 1144290 A2 EP1144290 A2 EP 1144290A2
- Authority
- EP
- European Patent Office
- Prior art keywords
- suction cup
- sheet
- upper sheet
- support
- unstacking
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 8
- 238000013519 translation Methods 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 2
- 238000000926 separation method Methods 0.000 abstract 2
- 238000006073 displacement reaction Methods 0.000 description 3
- 230000035617 depilation Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 235000015243 ice cream Nutrition 0.000 description 1
- 239000011810 insulating material Substances 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H3/00—Separating articles from piles
- B65H3/08—Separating articles from piles using pneumatic force
- B65H3/0808—Suction grippers
-
- 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
- B65H3/42—Separating articles from piles by two or more separators mounted for movement with, or relative to, rotary or oscillating bodies
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2406/00—Means using fluid
- B65H2406/30—Suction means
- B65H2406/34—Suction grippers
- B65H2406/345—Rotary suction grippers
- B65H2406/3454—Rotary suction grippers performing oscillating movement during rotation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2555/00—Actuating means
- B65H2555/20—Actuating means angular
- B65H2555/24—Servomotors
Definitions
- the present invention relates to the field of unstacking of sheets stacked in a loader, in particular of semi-rigid PVC sheets stacked in a loader.
- destackers comprising a mechanism for driving a suction cup which is alternately approached, brought into contact and then removed from the stack of sheets.
- the suction cup is pressed against the top sheet of the stack, and then drives the top sheet away from the stack before depositing it on another working area, for example on a cutout transported by a vacuum conveyor.
- the object of the present invention is to improve the depilation of semi-rigid sheets, in particular PVC sheets, stacked in a loader.
- the object of the invention is to avoid the disadvantage of sticking two consecutive sheets causing a removal of two sheets simultaneously, or causing the incorrect position of the sheet consecutive to the upper sheet which has just been taken.
- the invention relates, in its most general sense, to a process for unstacking sheets stacked in a feeder, comprising a step of bringing a suction cup closer to the surface of the top sheet of the stack, a step of bringing the suction cup into contact with the surface of said top sheet and a step of moving the suction cup after gripping the top sheet, characterized in that the suction cup is applied in an off-center area of the top sheet, and in that said suction cup is inclined, at the start of the removal step, so as to cause deformation of the upper sheet producing a takeoff prior to total takeoff of the upper sheet.
- the suction cup is tilted by tilting relative to the lateral zone of the suction cup closest to the center of the top sheet.
- the suction cup is approached to the upper sheet along a first curved trajectory substantially tangential with the normal to the upper sheet, and in that the suction cup is distant, after contact with the upper sheet, according to a curve substantially symmetrical to the first curve, with respect to a plane perpendicular to the surface of the upper sheet.
- the suction cup is inclined, during the removal step, along an initial trajectory corresponding substantially to the end of the first curve.
- the invention also relates to equipment for unstacking stacked sheets comprising a rotary plate driving at least one support of a suction cup, characterized in that it comprises a suction cup support formed by an articulated arm movable relative to an axis of pivoting extending perpendicular to a peripheral zone of the turntable, said articulated arm being guided by a guide rod, one end of which is guided in translation by a guide nut supported by the axis of rotation of turntable, the other end of which is connected to the articulated arm by a pivot.
- the suction cup support is formed by two segments articulated by a pivot.
- the rear segment of the suction cup support is driven by a motor independent of the drive motor of the main plate supporting the articulated arms.
- the drive motor of the articulated arm is controlled by a computer receiving a signal from a sensor detecting the passage of the edge of the sheet supported by the suction cup.
- the connecting rod is connected to the outer segment of the articulated arm by a pivot offset laterally.
- FIG. 1 represents a schematic view of the kinematics of the suction cup of equipment according to the invention
- Figure 2 shows a schematic view of equipment according to one invention
- FIG. 3 represents a schematic view of the movement of the suction cup support
- Figures 4 to 9 show the device at different stages of a cycle.
- FIG. 1 represents the trajectory of the suction cup during the steps of approaching and moving away from the suction cup.
- the approach of the suction cup takes place according to a curved trajectory (1) which joins the upper sheet (2) tangentially the normal (3) on the surface of the upper sheet (2).
- the contact between the suction cup (4) and the upper sheet (2) takes place in an area offset from the center (3) of the upper sheet (2).
- the trajectory represented corresponds to the displacement of the center of the suction area of the suction cup. It is determined by the combination of a rotational movement of the main plate (10) and the oscillating tilting movement of the suction cup support relative to the pivot (12).
- the suction cup When the suction cup is in contact with the sheet, the suction cup is tilted so that it 'lands' substantially tangentially on the surface of the top sheet, and then is tilted to lift the smaller side of the sheet is provided the take-off of one of the lateral edges (7), before causing the spacing of the upper sheet relative to the surface of the adjacent sheet.
- the removal then takes place along a second curved trajectory (5) substantially symmetrical with respect to a plane perpendicular to the surface of the sheet (2).
- the suction cup is inclined so that the contact plane (6) with the surface of the sheet forms a dihedral and the edge (7) disposed on the side of the contact area between the suction cup (4) and the sheet (2 ) takes off first.
- This lateral take-off causes the progressive introduction of air between the upper sheet (2) and the next sheet. This avoids the removal of two sheets remaining glued, or the inappropriate movement of the lower sheet.
- Figure 2 shows a schematic view of equipment according to the invention. It comprises a rotary plate (10) rotating at a constant speed. This main board
- Each suction cup support is formed by an articulated arm (11) secured to the rotary plate (10) by means of a pivot (12).
- This pivot (12) extends perpendicular to the plate (10), and is fixed near the edge of said plate.
- the articulated arm has two segments (30, 31) connected by a pivot (32) parallel to the pivot (12).
- the outer segment (31) of the articulated arm (11) supports the suction cup (4), at the end opposite the pivot (12).
- a satellite pinion (13) drives the rotation of the articulated arm (11) via a ring gear (14).
- the pinion (13) is driven by a motorized crown (25) actuated by an independent motor, controlled by a computer.
- the angular position of the motorized crown (25) is controlled by a computer which also receives information from optoelectronic sensors detecting possible drifts in the position of the sheet relative to the nominal position.
- the tilting of the articulated arm (11) is guided by a connecting rod (15), one of the ends (16) of which is guided in translation by a ball bushing (17) integral with the axis
- FIG. 3 schematically represents the kinematics of the device according to the invention.
- the height of the suction cups is about 50 mm from the bottom edge of the PVC sheet with respect to the direction of rotation. This promotes assembly precision when the PVC sheet is placed on the cardboard blank, the PVC being held at the front of the direction of layout.
- This phase corresponds to the transfer of the window, from taking to removal, by the shortest route.
- the orientation of the suction cup towards a uniform circular trajectory as soon as possible, allows the reading of the window by a cell, for an electronic correction of the product before removal.
- the device When the feeder sheet is taken up, the device occupies the position shown in FIG. 4.
- the articulated arm (11) is oriented radially, the two segments (30) and (31) being aligned.
- the suction cup (4) is in the extension of the articulated arm (11), in maximum extension.
- the bearing surface of the suction cup is in a plane substantially normal to the articulated arm (11), and therefore parallel to the sheet to be taken.
- the main crown (10) is driven at a constant speed V p during the entire cycle.
- the secondary crown (25) is stopped.
- the rotation of the plate (10) causes the suction cup holder to tilt as shown in FIG. 5.
- the rear segment (30) rocks in the direction opposite to the direction of rotation of the plate (10).
- the outer segment (11) rocks in the same direction as the plate (10) under the effect of guiding by the connecting rod (15). This movement of the articulated arm (11) causes the displacement of the suction cup towards the center of the plate, and the tilting of the suction surface of the suction cup, causing the sheet to form the dihedral previously described.
- the crown (25) is driven at a speed of rotation V c greater than the speed V p of the main plate.
- the articulated arm (11) then resumes a rectilinear configuration and the suction cup (4) is transferred to the external position.
- a sensor (35) detects the passage of the edge of the sheet (36) and transmits time information to the computer which controls the speed of rotation of the crown
- the speed of rotation is increased or decreased to ensure the correct positioning of the sheet at the time of deposit on the blank driven by a conveyor belt.
- the plate (10) and the crown (14) are driven at identical speeds, in synchronization with the running speed of the blank on which the sheet (36) is deposited, as shown in FIG. 8.
- the crown (25) is again stopped, causing the folding of the articulated arm (11) and the withdrawal of the suction cup in the direction of the center of the plate.
- the crown (25) is again driven to ensure the displacement of the suction cup in the external direction, according to a movement illustrated in FIG. 1.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Sheets, Magazines, And Separation Thereof (AREA)
- Auxiliary Devices For And Details Of Packaging Control (AREA)
Description
Claims
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR9909115 | 1999-07-13 | ||
FR9909115A FR2793783A1 (fr) | 1999-05-20 | 1999-07-13 | Procede de depilage de feuilles empilees dans un chargeur |
PCT/FR2000/001411 WO2001004033A2 (fr) | 1999-07-13 | 2000-05-24 | Procede de depilage de feuilles empilees dans un chargeur |
Publications (2)
Publication Number | Publication Date |
---|---|
EP1144290A2 true EP1144290A2 (fr) | 2001-10-17 |
EP1144290B1 EP1144290B1 (fr) | 2004-10-20 |
Family
ID=9548078
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP00935255A Expired - Lifetime EP1144290B1 (fr) | 1999-07-13 | 2000-05-24 | Procede de depilage de feuilles empilees dans un chargeur |
Country Status (7)
Country | Link |
---|---|
US (1) | US6431539B2 (fr) |
EP (1) | EP1144290B1 (fr) |
AT (1) | ATE280118T1 (fr) |
CA (1) | CA2342741C (fr) |
DE (1) | DE60015072T2 (fr) |
ES (1) | ES2231208T3 (fr) |
WO (1) | WO2001004033A2 (fr) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR3085364A1 (fr) | 2018-08-28 | 2020-03-06 | Esatec - Etudes Services Automatismes Techniques | Equipement pour le depilage |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6969060B2 (en) * | 2002-12-16 | 2005-11-29 | Creo Inc. | Sheet removal and conveying system |
EP2151405B1 (fr) * | 2008-08-08 | 2012-06-27 | Müller Martini Holding AG | Dispositif de chargement d'une trajectoire de traitement dotée de produits d'impression |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB763916A (en) * | 1954-03-01 | 1956-12-19 | Package Machinery Co | A machine for feeding sheet blanks to box or carton forming machines |
ES329892A1 (es) * | 1966-02-25 | 1967-06-01 | Mead Corp | Un mecanismo alimentador. |
US3937457A (en) * | 1974-05-14 | 1976-02-10 | Mabeg Maschinenbau Gmbh | Sheet feeder apparatus |
GB2185653B (en) * | 1984-01-13 | 1988-06-15 | Ricoh Kk | Image recording method |
EP0381382A3 (fr) * | 1989-01-30 | 1991-02-06 | Brother Kogyo Kabushiki Kaisha | Dispositif d'alimentation de feuilles avec moyen pour éviter la poussière et procédé pour nettoyer le dispositif d'alimentation |
JPH03238244A (ja) * | 1990-02-15 | 1991-10-24 | Matsushita Electric Works Ltd | 板材の分離供給装置 |
FR2664883B1 (fr) * | 1990-07-20 | 1993-03-19 | Esatec | Margeur rotatif pour le placement precis d'elements en feuille sur des supports plats. |
JPH05246565A (ja) * | 1992-03-09 | 1993-09-24 | Nec Kansai Ltd | シート切出搬送装置 |
DE19522741C2 (de) * | 1995-06-22 | 1997-07-17 | Kodak Ag | Vorrichtung zum Abnehmen eines Blattes von einem Stapel |
-
2000
- 2000-05-24 EP EP00935255A patent/EP1144290B1/fr not_active Expired - Lifetime
- 2000-05-24 ES ES00935255T patent/ES2231208T3/es not_active Expired - Lifetime
- 2000-05-24 AT AT00935255T patent/ATE280118T1/de not_active IP Right Cessation
- 2000-05-24 WO PCT/FR2000/001411 patent/WO2001004033A2/fr active IP Right Grant
- 2000-05-24 DE DE60015072T patent/DE60015072T2/de not_active Expired - Lifetime
- 2000-05-24 CA CA002342741A patent/CA2342741C/fr not_active Expired - Lifetime
-
2001
- 2001-03-06 US US09/800,385 patent/US6431539B2/en not_active Expired - Lifetime
Non-Patent Citations (1)
Title |
---|
See references of WO0104033A3 * |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR3085364A1 (fr) | 2018-08-28 | 2020-03-06 | Esatec - Etudes Services Automatismes Techniques | Equipement pour le depilage |
Also Published As
Publication number | Publication date |
---|---|
US20010026041A1 (en) | 2001-10-04 |
ES2231208T3 (es) | 2005-05-16 |
ATE280118T1 (de) | 2004-11-15 |
DE60015072T2 (de) | 2005-12-15 |
WO2001004033A3 (fr) | 2001-07-26 |
CA2342741C (fr) | 2008-12-30 |
CA2342741A1 (fr) | 2001-01-18 |
DE60015072D1 (de) | 2004-11-25 |
US6431539B2 (en) | 2002-08-13 |
EP1144290B1 (fr) | 2004-10-20 |
WO2001004033A2 (fr) | 2001-01-18 |
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