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
  • B65H5/00—Feeding articles separated from piles; Feeding articles to machines
  • B65H5/34—Varying the phase of feed relative to the receiving machine
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
  • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
  • B65H29/00—Delivering or advancing articles from machines; Advancing articles to or into piles
  • B65H29/24—Delivering or advancing articles from machines; Advancing articles to or into piles by air blast or suction apparatus
  • B65H29/241—Suction devices
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
  • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
  • B65H29/00—Delivering or advancing articles from machines; Advancing articles to or into piles
  • B65H29/26—Delivering or advancing articles from machines; Advancing articles to or into piles by dropping the articles
  • B65H29/34—Delivering or advancing articles from machines; Advancing articles to or into piles by dropping the articles from supports slid from under the 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
  • B65H3/00—Separating articles from piles
  • B65H3/08—Separating articles from piles using pneumatic force
  • B65H3/0808—Suction grippers
  • B65H3/0816—Suction grippers separating from the top of pile
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
  • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
  • B65H31/00—Pile receivers
  • B65H31/04—Pile receivers with movable end support arranged to recede as pile accumulates
  • B65H31/08—Pile receivers with movable end support arranged to recede as pile accumulates the articles being piled one above another
  • B65H31/10—Pile receivers with movable end support arranged to recede as pile accumulates the articles being piled one above another and applied at the top of the pile
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B31—MAKING ARTICLES OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER; WORKING PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
  • B31B—MAKING CONTAINERS OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
  • B31B50/00—Making rigid or semi-rigid containers, e.g. boxes or cartons
  • B31B50/02—Feeding or positioning sheets, blanks or webs
  • B31B50/04—Feeding sheets or blanks
  • B31B50/042—Feeding sheets or blanks using rolls, belts or chains
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B31—MAKING ARTICLES OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER; WORKING PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
  • B31B—MAKING CONTAINERS OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
  • B31B50/00—Making rigid or semi-rigid containers, e.g. boxes or cartons
  • B31B50/02—Feeding or positioning sheets, blanks or webs
  • B31B50/04—Feeding sheets or blanks
  • B31B50/06—Feeding sheets or blanks from stacks
  • B31B50/066—Feeding sheets or blanks from stacks from above a magazine
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B31—MAKING ARTICLES OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER; WORKING PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
  • B31B—MAKING CONTAINERS OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
  • B31B50/00—Making rigid or semi-rigid containers, e.g. boxes or cartons
  • B31B50/02—Feeding or positioning sheets, blanks or webs
  • B31B50/04—Feeding sheets or blanks
  • B31B50/07—Feeding sheets or blanks by air pressure or suction
• • 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
  • B65H2301/421—Forming a pile
  • B65H2301/4213—Forming a pile of a limited number of articles, e.g. buffering, forming bundles
  • B65H2301/42134—Feeder loader, i.e. picking up articles from a main stack for maintaining continuously enough articles in a machine feeder
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
  • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
  • B65H2404/00—Parts for transporting or guiding the handled material
  • B65H2404/70—Other elements in edge contact with handled material, e.g. registering, orientating, guiding devices
  • B65H2404/72—Stops, gauge pins, e.g. stationary
  • B65H2404/722—Stops, gauge pins, e.g. stationary movable in operation
• • 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
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
  • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
  • B65H2511/00—Dimensions; Position; Numbers; Identification; Occurrences
  • B65H2511/20—Location in space
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
  • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
  • B65H2511/00—Dimensions; Position; Numbers; Identification; Occurrences
  • B65H2511/20—Location in space
  • B65H2511/23—Coordinates, e.g. three dimensional coordinates
• • 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
  • B65H2555/30—Multi-axis
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
  • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
  • B65H2701/00—Handled material; Storage means
  • B65H2701/10—Handled articles or webs
  • B65H2701/17—Nature of material
  • B65H2701/176—Cardboard
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
  • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
  • B65H2701/00—Handled material; Storage means
  • B65H2701/10—Handled articles or webs
  • B65H2701/17—Nature of material
  • B65H2701/176—Cardboard
  • B65H2701/1762—Corrugated
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
  • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
  • B65H2701/00—Handled material; Storage means
  • B65H2701/10—Handled articles or webs
  • B65H2701/17—Nature of material
  • B65H2701/176—Cardboard
  • B65H2701/1764—Cut-out, single-layer, e.g. flat blanks for boxes

Definitions

• the present invention relates to a device for placing a cut-out at a given location from at least one storage magazine of a container.
• stack of corrugated cardboard cuts more or less superimposed in an offset manner, comprising means for advancing the stack as it is unstacked and means for unstacking the cuts by suction.
• It also relates to a method of forming a battery or a packaging box from such a device.
• Such methods generally comprise the following steps:
• Such methods require the regular filling of the magazine, the cutouts being precisely positioned and stamped (that is, wedged between reference pins) in said magazine.
• a machine operating at a rate of thirty cases per minute to form packages of 300 grams requires the handling of about four tons of cartons per day (over eight hours).
• a difficulty in implementing such systems is the gripping of the battery.
• the optical means have visual access to the cutouts only when the latter are not themselves masked by suction gripping means generally used.
• the present invention aims to overcome these disadvantages, by proposing a device and a method that better than those previously known to the requirements of the practice, in particular in that it allows the formation of a packaging box directly or through a stack of intermediate unit cuts at high speed and without interruption while providing an initial feed system of the cut and orderly and / or overlapping and to significantly improve the working conditions of operators.
• the invention proceeds from the idea of dissociating the initial discharge from any pile of blanks (without any requirement on their precise position), from those of the precise stack of blanks for Later use thinner and more rigid (forming boxes for example) through an intermediate transfer belt that acts as a buffer.
• this is done through the constitution of a precise stack of unit cuts.
• the invention finds a particularly important application although not exclusive in the field of the formation of boxes from blanks or sheets of corrugated cardboard of low grammage ( ⁇ 120 g / m 2 ) for the industry or the agro ⁇ food, at a high rate.
• the invention proposes for this purpose, to seize in layers, misaligned plates from the same pallet, and located on the top of a stack, the unloading on an intermediate mat in single layer, then once the cuts perfectly marked, to take them one by one to constitute a precise pile which will then be able to be used at a high rate, such as vertical feed store of a formeuse for example .
• each layer of cuts By simply transferring from one block after input from their initial storage pallet, each layer of cuts while locating them on an intermediate belt, and then take them one by one (after having moved them horizontally up to one cutting plan one by one) it will be possible to precisely place each cut to a subsequent post treatment without being embarrassed.
• the invention will therefore allow significant rates including crate formation (greater than sixty cases per minute for example).
• An unstacking provided from above also allows the lightening of the mechanics and the adjustment by using for example servo motors, by removing the transfer channel and the mobile frame of the stores known under the name klik / klok of the prior art.
• the invention notably proposes a device for placing a blank at a given location from at least one initial vertical stack of corrugated cardboard blanks, stored in the form of successive layers of one or more blanks, characterized in that it comprises means for unstacking the layers of cuttings by suction layer by layer, said means of unstacking comprising means for moving a block of Ox, Oy, Oz of the top cut layer to deposit it on a transfer belt at a first rate,
• gripping means at the other location of the carpet of the identified cuts of said layer one by one in the order of their superposition and / or according to their nesting, and of placement at said determined location to a second cadence, greater than or equal to the first.
• it comprises means for advancing the initial stack as it is unstacked.
• the advancing means of the initial stack comprises a lifting plate of the stack vertically to a first gripping plane for the cutting layer (s) from above;
• the transfer belt comprises suction holding means of the layers it conveys in a precise position and locked in translation relative to it.
• the holding means are formed by the material and / or the adhesive nature of the carpet itself;
• the device further comprises jogging means of each cut at said determined position to form a vertical stack of cropped cuts;
• the carpet is arranged to convey two layers of successive cuts
• the device comprises holding means in the upper part of the initial stack when the layer of cut-outs of the bottom of the stack has reached a predetermined level and means for automatically setting up a new initial stack below the remaining part the previous stack, to ensure the continuity of unstacking;
• the holding means in the upper part comprise controlled cleats (controlled for example electrically) between a sliding position along the stack of cuts and a support position of the bottom of the stack under the effect of gravity;
• the measuring means comprise optical means for locating in X, Y, Z the position (pi) of the cutting layer (s) placed on the transfer belt at the moment of deposition, and the calculating means are arranged to calculate the position in x, y, ⁇ (PJ) of the cuts one by one and / or the cut of the top after transfer to the other location of the carpet;
• the device comprises calculation means, starting from the position (pj) of the cutout identified as being that of the top, of the trajectory of the gripping means according to said position (Pj), arranged to control the movement of said gripping means between a cutting gripping position and a positioning position at the determined location and / or at a given work station;
• the device comprises means for assisting the separation of the top layer from the remainder of the stack, by blowing shaving air on the top of the blank;
• the blown air is injected by nozzles inclined with respect to the surface of the top layer at a pressure of between 1 and 2 bars relative;
• the unstacking means comprise an on-board system provided with a robotic arm for moving said layer of blanks to a next station, with a view to its transfer on the transfer belt, before empty return to capture the next top layer;
• the device further comprises means for gluing said cutout seized after transfer by the transfer belt, before the determined location which is a forming station of a package;
• the device comprises several robotic arms working in parallel;
• the vertical initial stack of blanks being placed on a pallet arranged on a lifting plate, said lifting plate is arranged to move said pallet vertically and the blanks that it supports up to a plane of observation and taken, and the device comprises means of visual detection;
• the device comprises a forming station by winding the blanks around a determined volume, for example a mandrel.
• the invention also proposes a method for placing a cutout at a predetermined location, from a store formed of at least one initial vertical pile of blanks of cardboard or corrugated sheet material stored in the form of a blank. successive layers comprising at least two more or less surprising cuts, characterized in that the layer of blanks from the top of the stack is brought to a given height,
• said cutting layer is grasped by suction using unstacking means
• said cutting layer is moved by means of said unstacking means comprising a robotic arm at a first rate
• the positions (p j , p- j , P "j ”) of the top cut and successive cuts in said layer are calculated during said transfer, and from said other location, the identified blanks of said layer are peeled one by one in the order of their superposition and / or according to their nesting, to place said blanks at the determined location at a second rate,
• the stack is maintained in the upper part when the layer below the stack has reached a predetermined level, the vertical elevator is lowered, it automatically places on said elevator a new battery below the remaining portion of the previous stack and the vertical elevator is raised so that the cutout of the bottom of the stack at the top rests on the top layer of the new stack, to ensure the continuity of unstacking layers.
• the top cut layer is advantageously separated from the remainder of the initial stack by pre-unstacking means, and the pre-unstacking means are then removed before being vacuum stripped.
• the position (pi) of the top layer is measured telemetrically, the positions (pj, p- j , P " j , ...) of the cut-out of the top and successive cuts of said layer are calculated and calculated. from the latter the trajectories of the unstacking means to the determined location during the masked time of the movements on the carpet transfer and repeat the operation for each of the cuts that follow.
• Figure 1 is a schematic perspective view showing the principle of a first embodiment of a device according to the invention.
• FIGS. 1A and 1B illustrate the principles of placement of a layer on the transfer belt of the device of FIG. 1.
• Figure 2 shows a perspective view of an embodiment of a device part according to the embodiment of the invention more particularly described here.
• Figure 3 is a schematic perspective view illustrating an embodiment of the device portion adjacent to the portion shown in Figure 2, at the location determined, with jogging means.
• FIG. 4 schematically shows in perspective the unstacking means of a layer of cutouts of the device of FIG. 2.
• Figure 5 is a perspective view of the device of Figure 2 at the optical means and the beginning of the transfer belt.
• FIG. 6 is a perspective view of the device of FIG. 2 at the level of the means of gripping the top cutouts for placement at the determined location.
• Figures 7 to 9 show side views of an embodiment of the advancing means of the initial stack.
• Figure 10 is a schematic sectional view illustrating the take-off by blowing on a layer of blanks.
• Figure 1 shows schematically a device 1 illustrating the operating principle according to the embodiment of the invention more particularly described.
• the staple is deflected (arrow 6) and it is placed in a block in Ox, Oy, Oz the top cutting layer to deposit it on a transfer belt 7 at a first rate (for example thirty strokes / minute).
• the pallet comprises advancing means (arrow 8) of the initial stack as it is unstacked so as to guarantee a gripping plane 9 of the same top layer 5.
• the transfer belt comprises suction means (not shown) which make it possible to hold the layer 5 in place during its transfer between a first position or removal location 10 and a second position or recovery location 11.
• the transfer belt 7 thus allows the transfer and the holding in position of the layer 5 over a distance and for a determined time depending on the speed of movement of the transfer belt (arrow 12).
• the device 1 comprises measurement means schematized in mixed lines 13 (optical sensor for example) and calculation means 14 (microprocessor) during the transfer 12 of the position of the blanks 4, 4 ', 4' 'of said layers 5 on the carpet with respect to an Ox mark, Oy determining the plane of said carpet 7.
• the device 1 further comprises gripping means (arrow 15) at the other location 11 on the belt 7 of the identified cuts 4, 4 ', 4' 'one by one, in the order of their superposition and depending on their nesting and placement (arrow 16) identified cuts, one by a determined location audit (plan 17) for example constituted by the upper plane of a stack of cutouts 18 perfectly sharpened, which can then be removed (arrow 19) in a manner known in itself.
• gripping means (arrow 15) at the other location 11 on the belt 7 of the identified cuts 4, 4 ', 4' 'one by one, in the order of their superposition and depending on their nesting and placement (arrow 16) identified cuts, one by a determined location audit (plan 17) for example constituted by the upper plane of a stack of cutouts 18 perfectly sharpened, which can then be removed (arrow 19) in a manner known in itself.
• the unstacking and placement takes place at a second rate, for example greater than the first, for example (forty strokes / minute).
• the device 1 will make it possible to strip the layers of cut-outs 5, for example belonging to a pallet 2 consisting of several stacks 3, 3 ', 3''of cut-out 4, 4', 4 '', from it, to form a single stack 18, which will allow to load a machine and / or magazine flat and / or inclined.
• the device 1 thus has three separate functions, namely an unstacking function (arrows 6 and 8) which makes it possible to organize the management of the pallet and the extraction of the layers, a transfer function (arrow 12) of the extracted layer to a stacking station, and a stacking and evacuation function (arrow 15, 16 and 19) where the blanks are taken unitarily so as to constitute another stack.
• an unstacking function (arrows 6 and 8) which makes it possible to organize the management of the pallet and the extraction of the layers
• a transfer function (arrow 12) of the extracted layer to a stacking station
• a stacking and evacuation function (arrow 15, 16 and 19) where the blanks are taken unitarily so as to constitute another stack.
• the unstacking function (arrows 6 and 8), which thus allows the management of the pallet and the extraction of the layer, is more particularly detailed with reference to FIG. 1B.
• the pallet 2 consisting of several stacks 3, 3 ', 3' 'having the same shape and the same dimensions is referenced on a lifting plate 20.
• This cycle is repeated until the top plane of the elevator is reached, corresponding to the end of the consumption of all the batteries.
• the elevator 20 descends with the empty pallet which can then be evacuated.
• Processor means 22 make it possible to manage the operation of such an embodiment, the extraction of the layer being done by means of gripping means which will be detailed more precisely below.
• the pallet in place on the elevator 1 is at constant level.
• This information allows a robot (arrow 6) equipped with a gripper, for example vacuum suction cups, to take all the cuts of a same layer located at the upper surface of the pallet.
• the pallet thus consists of n stacks (in the present example three), this function makes it possible to take n blanks of cardboard on the pallet irrespective of their positions.
• this layer is transferred by the robot to a fixed processing station, in this case the location 10 on the transfer belt, then the robot returns for another layer.
• the layer 5 deposited is treated by a 2D vision system 23, known in itself, comprising the optical measuring means 13 and calculation 14 described above.
• This 2D vision system 23 makes it possible to establish the position, to the millimeter near the sighting mark, of each cutout constituting the layer and takes into account the possible overlaps.
• the vision system then transmits to the stacker function, ie the computer 14, the X, Y and ⁇ values of each carton blank, which will establish the gripping order by the suction means 24.
• a signal to begin cutting transfer to the computer 14 and to index the positions of the cuts according to the position of the transfer is transmitted.
• the transfer of the blanks to the stacker function is ensured by the carpet which is for example an adhesive mat or a carpet by suction, which keeps the cuts in their vision mark precisely (Ox, Oy).
• the zone for depositing the layer is the zone for treating vision or for optical measurements (mixed line 13 in FIG. 1A in the form of a cone), the transfer of the cuts occurring after the treatment of the vision by the suction and / or adherent carpet.
• this measurement of the position is made by the vision system comprising the means of vision and treatment known in themselves. .
• the last step concerning the stacker function in which the taking of the cuts is done in a unitary manner, is performed to form the stack
• a four-axis robot (at least) picks up the cuts on the transfer of the cut (arrows 15 and 16) with suction cups aspirants.
• the cuts are made according to the position of the transfer and the setting order that have been transmitted by the vision system and in view of the associated calculations.
• the four-axis robot can take the blanks at zero speed as speed established as soon as the cut to be taken is in the field of identification of the robot.
• the last part of the carpet has a portion at the other location 11, the vacuum is less important than that of the first part.
• the vacuum of the robot can overcome more easily the vacuum of the carpet and take the cut.
• the socket of the robot is made unitarily and the cutting is done in a fixed position for example in a funnel (not shown), against a stop etc.
• a retreading system which will be specified hereinafter with reference to FIG. 3, makes it possible to recenter the cutout, before opening the hatches that will allow either to directly load a vertical or inclined magazine. a machine, or to constitute a single stack on a carriage and / or other embodiments, when it is desired to form a package in the continuity of the process for example.
• the vision of the layer for measuring the parameters of the latter is made faster when it is made on a background that has an optimized color with the wavelength of the illumination.
• the suction conveyor makes it possible to treat tile cuttings better.
• the treatment of the spacers (anti-slip sheets) provided in the pallets, and identified according to their particular shape, for example, may be performed in order to organize their automatic evacuation (by driving downwards thanks to the carpet shaped noria).
• the vision which is accurate to the millimeter gives an excellent repeatability, the processing times made by the measuring and calculation means for managing overlaps in a complete and rapid manner.
• the processing time will be less than 500 milliseconds.
• the processing time of the vision will be between 500 milliseconds and 1 second.
• This time is advantageously subject to an alarm.
• the device 30 (see FIGS. 2 and 4) comprises means 31 for unstacking the layers 32 of suction cuts layer by layer.
• the means 31 comprise a system 33 of ramps 34 provided with suckers 35 gripping from above and suction of the layers, fixed so as to be able to move in translation to a bridge 36 for transferring Ox, Oy and Oz from said layers.
• the means 31 comprise a robotic carriage 37 for horizontal transfer between the position 38 of engagement of the layer 32 and the position 39 of removal on the conveyor belt 40, at a first determined rate, for example 30 strokes / minute.
• the layers 32 are extracted from the initial stack 41 of cuts which rests on a pallet 42 of storage and / or transfer maintained level by a lifting plate (not shown) as described above.
• the device 30 comprises means for advancing the initial stack 41 as it is unstacked (not shown).
• the transfer belt 40 for example adhering and / or provided with suction means (not shown) for maintaining in position the layer 32 deposited at 39, over a distance d and for a time t determined, for bringing said layer 32 to another location 43 (see FIG. 6) by the belt 40.
• suction means not shown
• This is for example formed by a ribbon, of a width slightly greater than that of the layers to be unstacked and of a length slightly greater than that of two layers, which runs endlessly around two motorized axes 44.
• the device comprises measurement means 45 and computation means (computer not shown), during the transfer, of the position of the one or more cutouts 46, 47, 48 of the layer 32 on the belt relative to an Ox mark, Oy determined according to the carpet.
• the measuring means 45 comprise optical means (cones in phantom in the figures) of X, Y, Z registration, for example formed by emitter / receiver in color light optimized with that of the carpet, the position (pi ) of the layer 32 of cuts.
• These measurement means transmit in real time the visual information obtained to the calculation means which are programmed to calculate the position in x, y and ⁇ (p j ) of the cuts one by one (46, 47, 48) and / or the cutting of the top after transfer to the other location 43.
• the optical means and / or telemetric means for measuring the position (p ⁇ ) make it possible to control the movement of the gripping means 50 at the other location.
• suction means 52 suction cups
• FIG. 3 shows an embodiment of said stack 54 of cuts obtained in fine after re-stacking one by one of the separate cut-outs of the layers extracted from the pallet and transferred by the belt 40.
• This stack is formed by the descent guided by a device 55 formed of vertical uprights 56 for wedging the lateral edges of the cuts fed by a magazine 57 comprising means 58 for lateral jogging of the cutouts with lateral stops 59, in the form of a rounded buffer, retractable , which, once the cut deposited by the robot 51, guide it to the top 60 of the stack below.
• the pile is evacuated for example with a pallet truck in a manner known in itself.
• FIGS. 7 to 9 diagrammatically show the system for automatically reloading the stack of layers according to a particular embodiment of the invention.
• the device therefore comprises means 61 for holding the upper part of the initial stack 41 when the layer of cutouts 62 from below has reached a determined level 63 (see FIG. 9).
• Means for automatically setting up a new initial stack (not shown) below the remaining portion of the previous stack are then provided to ensure the continuity of unstacking.
• the stack 41 of layers empties and the plate formed by the brackets 64, which support the last layer 62, rises. There comes a time when it is in such a position that can automatically trigger the holding means 65 in the upper part of the stack.
• These means are for example constituted by piloted cleats 66 movable between a position 67 of sliding along the edge 68 of the stack of layers and a position 69 (see Figure 9) supporting the bottom of the stack.
• the holding means 65 comprise the cleats 66 formed by a part driven in rotation relative to an axis 70 integral with a height-adjusting rod 71 fixed to the frame 72 of the device.
• the cleats have an end lug 73 arranged to slide along the edge of the stack.
• the lug 73 has for example a substantially triangular section forming a point of contact with the edge of the stack.
• the lug When the tip of the lug 73 is no longer in contact with the edge of the stack, because it is too high, the lug is controlled to pivot about its axis 70.
• the device also comprises means 75 for assisting the separation of the top cut by blowing shaving air 76 on the top of the stack.
• the blown air is injected by nozzles 77 inclined relative to the surface of the top layer at a pressure between 1 bar and 2 bar relative.
• the top layer is brought to a given height, the layer is grasped (FIG. 4) by suction using the unstacking means at a first rate. and said layer is transferred to the carpet.
• the robot makes it possible to bring the layer into a single movement, once the layer has been torn off, at its transfer station on the belt 40.
• the characteristics of the layer are measured optically, and during the transfer, the x, y, ⁇ position of each cut is calculated so that it is precisely known when the layer reaches the gripping station by the four-axis robot.
• the latter being then programmed accordingly, takes the cuttings one by one and deposits them on the stack 54 (via the retacking system) at a second determined rate.
• the stack 54 is then transferred to the forming station of a box for example around a mandrel 98.
• the controller detects the tilting of the cleats, in a manner known per se.
• the new battery is reassembled to integrate with the rest of the previous stack, thus avoiding any break in the rate of formation of the boxes.
• the present invention is not limited to the embodiments more particularly described. On the contrary, it embraces all the variants and in particular those in which the cuttings are of different shapes, those in which they are glued at the exit of the transfer belt for wrapping in the stride around a mandrel or those where several successive layers are arranged on the carpet (more than two).

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• Sheets, Magazines, And Separation Thereof (AREA)

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• 2012
  • 2012-11-22 FR FR1261105A patent/FR2998284B1/fr not_active Expired - Fee Related
• 2013
  • 2013-11-22 EP EP13808095.7A patent/EP2922776A1/de not_active Withdrawn
  • 2013-11-22 WO PCT/FR2013/052824 patent/WO2014080137A1/fr active Application Filing

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