EP1585057A1 - Dispositif et procédé de séléction et division d'une rame d'une pile de feuilles - Google Patents
Dispositif et procédé de séléction et division d'une rame d'une pile de feuilles Download PDFInfo
- Publication number
- EP1585057A1 EP1585057A1 EP04425263A EP04425263A EP1585057A1 EP 1585057 A1 EP1585057 A1 EP 1585057A1 EP 04425263 A EP04425263 A EP 04425263A EP 04425263 A EP04425263 A EP 04425263A EP 1585057 A1 EP1585057 A1 EP 1585057A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- television camera
- image
- stack
- sheets
- front face
- 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.)
- Withdrawn
Links
Images
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
- B65H3/32—Separating articles from piles by elements, e.g. fingers, plates, rollers, inserted or traversed between articles to be separated and remainder of the pile
- B65H3/322—Separating articles from piles by elements, e.g. fingers, plates, rollers, inserted or traversed between articles to be separated and remainder of the pile for separating a part of the pile, i.e. several articles at once
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06M—COUNTING MECHANISMS; COUNTING OF OBJECTS NOT OTHERWISE PROVIDED FOR
- G06M1/00—Design features of general application
- G06M1/08—Design features of general application for actuating the drive
- G06M1/10—Design features of general application for actuating the drive by electric or magnetic means
- G06M1/101—Design features of general application for actuating the drive by electric or magnetic means by electro-optical means
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06M—COUNTING MECHANISMS; COUNTING OF OBJECTS NOT OTHERWISE PROVIDED FOR
- G06M9/00—Counting of objects in a stack thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2301/00—Handling processes for sheets or webs
- B65H2301/40—Type of handling process
- B65H2301/42—Piling, depiling, handling piles
- B65H2301/422—Handling piles, sets or stacks of articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2301/00—Handling processes for sheets or webs
- B65H2301/50—Auxiliary process performed during handling process
- B65H2301/54—Auxiliary process performed during handling process for managing processing of handled material
- B65H2301/541—Counting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2301/00—Handling processes for sheets or webs
- B65H2301/50—Auxiliary process performed during handling process
- B65H2301/54—Auxiliary process performed during handling process for managing processing of handled material
- B65H2301/542—Quality control
- B65H2301/5421—Quality control taking samples
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2553/00—Sensing or detecting means
- B65H2553/40—Sensing or detecting means using optical, e.g. photographic, elements
- B65H2553/42—Cameras
Definitions
- the present invention relates to a unit for selecting and separating reams from a stack of sheets of paper or similar.
- the present invention relates to a unit for selecting and separating reams from a stack of sheets, of the type comprising a television camera positioned facing a front face of the stack to acquire an image of a portion of the front face; an actuating device for moving the television camera along the stack to vary the portion of the front face covered by the television camera; and a separating member which is inserted inside the stack to separate the reams successively from the stack.
- the images acquired by the television camera are used by an electronic central control unit to control the movement of the separating member along the stack, to count the number of sheets in a ream during said movement of the separating member, and to arrest the separating member at the last sheet in the ream to be removed.
- the separating member is moved into contact with the stack at a given insertion region, and is inserted inside the stack to separate the ream from the stack.
- a unit for selecting and separating reams from a stack of sheets of paper or similar as claimed in Claim 1.
- the present invention also relates to a method of selecting and separating reams from a stack of sheets of paper or similar.
- number 1 indicates as a whole a unit for selecting and separating reams 2 from a stack 3 of sheets 4 supported on a pallet 5 and comprising a number of sheets 4 stacked in a vertical direction 6.
- Unit 1 comprises an optical image-acquisition device 7 positioned facing a front face 8 of stack 3, and in turn comprising a first slide (not shown) movable in direction 6; a second slide (not shown) connected in known manner to the first slide (not shown) to move linearly in a horizontal direction 9 crosswise to direction 6; and a television camera 10 mounted on the second slide (not shown), having an optical axis 11 parallel to direction 9, and for covering a portion 8a of face 8.
- Moving television camera 10 in direction 6 provides for varying portion 8a of face 8 covered by television camera 10, and for covering as a whole a scanning region 12 which can be illuminated by a light source 13.
- Unit 1 also comprises a separating device 14 for separating reams 2 from stack 3, and which in turn comprises a first slide (not shown) movable in direction 6; a second slide (not shown) connected in known manner to the first slide (not shown) to move linearly in a direction 15 perpendicular to face 8; and a separating member 16 mounted on the second slide (not shown).
- a separating device 14 for separating reams 2 from stack 3, and which in turn comprises a first slide (not shown) movable in direction 6; a second slide (not shown) connected in known manner to the first slide (not shown) to move linearly in a direction 15 perpendicular to face 8; and a separating member 16 mounted on the second slide (not shown).
- Member 16 is defined by a substantially flat, wedge-shaped blade 17 which is inserted inside stack 3 at a substantially spot-shaped insertion region 18 lying in scanning region 12 of television camera 10, and whose location on face 8 is indicated, when blade 17 is located a given distance from face 8, by a laser pointing device 19 integral with member 16 and for illuminating a portion of face 8 coincident with region 18.
- television camera 10 is moved in direction 6 to acquire, within scanning region 12, the images of a number of sheets 4 normally approximating in excess the number of sheets 4 in a ream 2.
- the images acquired by television camera 10 are used by an electronic central control unit 20 to control the movement of blade 17 and, therefore, of insertion region 18 in direction 6, to count sheets 4 as blade 17 moves in direction 6, and to arrest blade 17 in direction 6 once blade 17 is positioned at the last sheet 4 in the ream 2 to be selected and removed.
- blade 17 is moved in direction 15 and inserted inside stack 3 at region 18 to separate the ream 2 considered from stack 3.
- insertion region 18 is always located within portion 8a of face 8 covered by television camera 10. Consequently, when blade 17 is arrested in direction 6, insertion region 18 is always located correctly at the last sheet 4 in the ream 2 to be removed, regardless of the shape of sheets 4, i.e. regardless of whether the profile of sheets 4 is perfectly flat or undulated.
- central control unit 20 also provides, as television camera 10 moves in direction 6, for continuously feedback-controlling the movement of television camera 10 in direction 9 in response to a signal from a distance sensor 21 integral with television camera 10.
- Moving television camera 10 in direction 9 provides for maintaining a substantially constant distance, measured parallel to direction 9, between face 8 and television camera 10, and so enabling television camera 10 to fully exploit its ability to focus the acquired images.
- the ability to focus the images acquired by television camera 10 varies in direction 15 alongside a variation in the orientation of optical axis 11 with respect to a vertical reference plane P perpendicular to direction 15.
- optical axis 11 when optical axis 11 is parallel to direction 15, television camera 10 is able to correctly focus all the sheets 4 whose sides 4a facing television camera 10 are located at most a given distance "a" from plane P.
- television camera 10 when optical axis 11 is parallel to direction 9 and, therefore, at an angle ⁇ of other than 90° with respect to plane P, television camera 10 is able to correctly focus all the sheets 4 whose sides 4a facing television camera 10 are located at most at a distance which is obviously again distance "a” if measured in direction 9, and which is a distance "b", greater than "a", if measured in direction 15.
- television camera 10 For each side 4a located at most at distance "b" from plane P, television camera 10 therefore acquires an image having, within scanning region 12, a correctly focused portion T1, and a blurred portion T2 ( Figures 4 and 6).
- central control unit 20 cooperates with a laser pointing device 22 located on the opposite side of blade 17 to television camera 10, and which projects onto face 8 and within scanning region 12 a line 23 striking face 8 at an angle ⁇ of other than 90° ( Figure 4).
- line 23 intersects side 4a of each sheet 4 at a point P1 lying in plane P ( Figure 4), and is therefore straight and parallel to direction 6 (as shown by the dash line in Figure 6).
- line 23 intersects side 4a of each sheet 4 at a point P2 which is shifted rightwards with respect to the corresponding point P1 when side 4a projects from plane P towards television camera 10 ( Figure 4), and which is shifted leftwards with respect to the corresponding point P1 when side 4a is located on the opposite side of plane P to television camera 10 ( Figure 4), so that line 23 has a curved profile (as shown by the continuous line in Figure 6).
- Central control unit 20 therefore analyses the images acquired by television camera 10 to locate line 23 in each image, and so locates relative portion T1 as a function of the location of line 23 in the image.
- central control unit 20 counts sheets 4 solely as a function of the analysis of portions T1.
- central control unit 20 can calculate the distance of each side 4a from plane P, and therefore from television camera 10, either directly by means of a computing unit within central control unit 20, or indirectly by means of a matrix memorized in central control unit 20.
- laser pointing device 22 is replaced by a recognition algorithm implemented in electronic central control unit 20.
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Mechanical Engineering (AREA)
- Sheets, Magazines, And Separation Thereof (AREA)
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP04425263A EP1585057A1 (fr) | 2004-04-08 | 2004-04-08 | Dispositif et procédé de séléction et division d'une rame d'une pile de feuilles |
US11/102,598 US20050230899A1 (en) | 2004-04-08 | 2005-04-07 | Method and unit for selecting and separating reams from a stack of sheets of paper or similar materials |
CA002503990A CA2503990A1 (fr) | 2004-04-08 | 2005-04-07 | Methode et appareil permettant de selectionner et de separer les rames d'une pile de feuilles de papier ou d'articles semblables |
BR0501256-2A BRPI0501256A (pt) | 2004-04-08 | 2005-04-07 | Método e unidade para selecionar e separar resmas de uma pilha de folhas de papel ou similar |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP04425263A EP1585057A1 (fr) | 2004-04-08 | 2004-04-08 | Dispositif et procédé de séléction et division d'une rame d'une pile de feuilles |
Publications (2)
Publication Number | Publication Date |
---|---|
EP1585057A1 true EP1585057A1 (fr) | 2005-10-12 |
EP1585057A8 EP1585057A8 (fr) | 2006-02-01 |
Family
ID=34896193
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP04425263A Withdrawn EP1585057A1 (fr) | 2004-04-08 | 2004-04-08 | Dispositif et procédé de séléction et division d'une rame d'une pile de feuilles |
Country Status (4)
Country | Link |
---|---|
US (1) | US20050230899A1 (fr) |
EP (1) | EP1585057A1 (fr) |
BR (1) | BRPI0501256A (fr) |
CA (1) | CA2503990A1 (fr) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2014067848A3 (fr) * | 2012-10-31 | 2014-06-26 | Siemens Aktiengesellschaft | Dispositif et procédé de manipulation automatisée de piles d'articles plats à envoyer |
WO2020249350A1 (fr) * | 2019-06-14 | 2020-12-17 | Koenig & Bauer Ag | Système de manipulation de substrats avec cellule de robot et son procédé d'utilisation |
EP4177023A1 (fr) * | 2021-11-03 | 2023-05-10 | Open Mind Ventures, S.L.U. | Dispositif et procédé de manipulation d'éléments |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1584584A1 (fr) * | 2004-04-08 | 2005-10-12 | KPL Packaging S.P.A. | Unité pour sélectionner et séparer des rames d'une pile de feuilles |
WO2016148618A1 (fr) * | 2015-03-19 | 2016-09-22 | Yaskawa Nordic Ab | Procédé de préhension d'une pile supérieure de substrats flexibles au moyen d'éléments de préhension d'un robot à deux bras |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3422274A (en) * | 1964-06-01 | 1969-01-14 | Edward M Coan | Radiation sensitive apparatus for sensing and counting |
EP0173613A1 (fr) * | 1984-07-30 | 1986-03-05 | Kanzaki Paper Manufacturing Co., Ltd | Dispositif pour la séparation d'une pile de feuilles |
WO1991010972A1 (fr) * | 1990-01-12 | 1991-07-25 | Westling Bjoern Magnus | Appareil pour compter des feuilles placees les unes sur les autres dans une pile |
EP0743616A2 (fr) * | 1995-05-15 | 1996-11-20 | Eastman Kodak Company | Appareil et méthode de comptage de feuilles |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4217942A1 (de) * | 1992-05-30 | 1993-12-02 | Koenig & Bauer Ag | Druck-Qualitätskontrolleinrichtung für eine Schön- und Widerdruck-Rotationsdruckmaschine |
DE4410384C1 (de) * | 1994-03-25 | 1995-05-24 | Roland Man Druckmasch | Steuerung für eine Stapelhubvorrichtung |
CH690470A5 (fr) * | 1994-06-17 | 2000-09-15 | Bobst Sa | Dispositif pour assurer la qualité de la production d'une presse de fabrication d'emballages. |
DE4431669B4 (de) * | 1994-09-06 | 2006-01-12 | Heidelberger Druckmaschinen Ag | Vorrichtung zum Ablegen von mit einer Druckmaschine im fortlaufenden Betrieb erstellten, unterschiedlichen Produkten |
DE19543634A1 (de) * | 1995-11-23 | 1997-05-28 | Giesecke & Devrient Gmbh | Vorrichtung und Verfahren zum Vereinzeln von Blattgut aus einem Stapel |
DE29804960U1 (de) * | 1998-03-20 | 1999-01-07 | Günther Louda GmbH, 82041 Oberhaching | Vorrichtung zum Kontrollieren von Bögen |
EP1097030B1 (fr) * | 1998-07-15 | 2002-03-27 | CE Nuclear Power LLC | Systeme de verification visuelle de position de tubes |
CH693850A5 (fr) * | 2000-05-16 | 2004-03-15 | Bobst Sa | Dispositif d'asservissement des organes délivrant des feuilles à une machine. |
EP1249415A3 (fr) * | 2001-04-14 | 2004-02-04 | NexPress Solutions LLC | Procécé et dispositif pour mesurer des positions de feuilles en mouvement continu |
WO2004050603A1 (fr) * | 2002-12-04 | 2004-06-17 | Mitsui Chemicals, Inc. | Procede de production de 1,5-diaminonaphtalene |
-
2004
- 2004-04-08 EP EP04425263A patent/EP1585057A1/fr not_active Withdrawn
-
2005
- 2005-04-07 US US11/102,598 patent/US20050230899A1/en not_active Abandoned
- 2005-04-07 BR BR0501256-2A patent/BRPI0501256A/pt not_active Application Discontinuation
- 2005-04-07 CA CA002503990A patent/CA2503990A1/fr not_active Abandoned
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3422274A (en) * | 1964-06-01 | 1969-01-14 | Edward M Coan | Radiation sensitive apparatus for sensing and counting |
EP0173613A1 (fr) * | 1984-07-30 | 1986-03-05 | Kanzaki Paper Manufacturing Co., Ltd | Dispositif pour la séparation d'une pile de feuilles |
WO1991010972A1 (fr) * | 1990-01-12 | 1991-07-25 | Westling Bjoern Magnus | Appareil pour compter des feuilles placees les unes sur les autres dans une pile |
EP0743616A2 (fr) * | 1995-05-15 | 1996-11-20 | Eastman Kodak Company | Appareil et méthode de comptage de feuilles |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2014067848A3 (fr) * | 2012-10-31 | 2014-06-26 | Siemens Aktiengesellschaft | Dispositif et procédé de manipulation automatisée de piles d'articles plats à envoyer |
US9782802B2 (en) | 2012-10-31 | 2017-10-10 | Siemens Aktiengesellschaft | Method and device for the automated handling of stacks of flat mail items |
WO2020249350A1 (fr) * | 2019-06-14 | 2020-12-17 | Koenig & Bauer Ag | Système de manipulation de substrats avec cellule de robot et son procédé d'utilisation |
US11485594B2 (en) | 2019-06-14 | 2022-11-01 | Koenig & Bauer Ag | Substrate handling system comprising a robot cell and method for operating the same |
EP4177023A1 (fr) * | 2021-11-03 | 2023-05-10 | Open Mind Ventures, S.L.U. | Dispositif et procédé de manipulation d'éléments |
WO2023079203A1 (fr) * | 2021-11-03 | 2023-05-11 | Open Mind Ventures, S.L.U. | Dispositif et procédé de manipulation d'éléments |
Also Published As
Publication number | Publication date |
---|---|
EP1585057A8 (fr) | 2006-02-01 |
US20050230899A1 (en) | 2005-10-20 |
BRPI0501256A (pt) | 2005-11-16 |
CA2503990A1 (fr) | 2005-10-08 |
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Legal Events
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PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
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Extension state: AL HR LT LV MK |
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RIN1 | Information on inventor provided before grant (corrected) |
Inventor name: CINOTTI, ANDREA Inventor name: CANINI, GABRIELE |
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AKX | Designation fees paid | ||
REG | Reference to a national code |
Ref country code: DE Ref legal event code: 8566 |
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STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN |
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18D | Application deemed to be withdrawn |
Effective date: 20060413 |