EP3844089A1 - Depiling apparatus - Google Patents

Depiling apparatus

Info

Publication number
EP3844089A1
EP3844089A1 EP19774139.0A EP19774139A EP3844089A1 EP 3844089 A1 EP3844089 A1 EP 3844089A1 EP 19774139 A EP19774139 A EP 19774139A EP 3844089 A1 EP3844089 A1 EP 3844089A1
Authority
EP
European Patent Office
Prior art keywords
suction cup
carriage
equipment
sheets according
stacked sheets
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
Application number
EP19774139.0A
Other languages
German (de)
French (fr)
Other versions
EP3844089B1 (en
Inventor
Francis Laroche
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Etudes Services Automatismes Techniques SA ESATEC
Original Assignee
Etudes Services Automatismes Techniques SA ESATEC
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Etudes Services Automatismes Techniques SA ESATEC filed Critical Etudes Services Automatismes Techniques SA ESATEC
Publication of EP3844089A1 publication Critical patent/EP3844089A1/en
Application granted granted Critical
Publication of EP3844089B1 publication Critical patent/EP3844089B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • 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
    • B65H1/00—Supports or magazines for piles from which articles are to be separated
    • B65H1/26—Supports or magazines for piles from which articles are to be separated with auxiliary supports to facilitate introduction or renewal of the 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
    • B65H1/00—Supports or magazines for piles from which articles are to be separated
    • B65H1/28—Supports or magazines for piles from which articles are to be separated compartmented to receive piles side-by-side
    • 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
    • B65H3/0883—Construction of suction grippers or their holding 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
    • B65H3/00—Separating articles from piles
    • B65H3/36—Separating articles from piles by separators moved in special paths, e.g. enclosing an area
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2402/00—Constructional details of the handling apparatus
    • B65H2402/30—Supports; Subassemblies; Mountings 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
    • B65H2403/00—Power transmission; Driving means
    • B65H2403/50—Driving mechanisms
    • B65H2403/53—Articulated mechanisms
    • B65H2403/531—Planar mechanisms
    • B65H2403/5311—Parallelogram mechanisms
    • 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
    • B65H2406/344—Suction grippers circulating in closed loop
    • 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
    • B65H2555/10—Actuating means linear
    • B65H2555/13—Actuating means linear magnetic, e.g. induction motors
    • 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

Definitions

  • the present invention relates to the field of unstacking of flat objects stacked in a loader, in particular of cut cardboard sheets, semi-rigid PVC sheets or of printed circuits stacked in a loader and of the transfer of these objects between the loader and a transfer mat.
  • Such destackers include a mechanism for driving a suction cup which is alternately approached, brought into contact and then moved away 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 work area, for example on a vacuum conveyor.
  • French patent FR2623473 describes a device for transferring a stack of blanks for cartons from a pallet to the store of a machine for packing in cartons, in which the carton blanks are arranged vertically one next to the other, in particular for the tobacco industry, characterized by the following features:
  • an unloading carriage which can pivot about a horizontal axis to pass from a substantially vertical position to a substantially horizontal position, comprises an unloading fork which is movable along the unloading carriage
  • a drive mechanism slides the unloading carriage, and therefore the teeth, in the direction of the intervals between the boards of the upper face of the pallet
  • the present invention relates, in its most general sense, to equipment for unstacking sheets stacked by a transfer unit comprising a plurality of suction cups, characterized in that said transfer system is constituted by a linear motor with closed track driving a plurality of moving parts supporting the suction cup supports.
  • - Said motor being constituted by a track forming a closed loop comprising a plurality of electromagnet coils supplied individually to create variable electromagnetic fields, and by a plurality of carriages comprising at least one permanent magnet which cooperates magnetically with said electro coils -magnet to produce a relative movement between each of said carriages and said closed track, the suction cup supports being fixed on said carriages,
  • said linear motor has a stator section extending above the line extending between the pick-up point on a feeder and drop-off point on an adjacent belt conveyor,
  • the suction cup support comprises a first articulated connection connected to a first carriage and a second articulated connection connected to a second carriage, the inclination of the contact plane of the suction cup being determined by the relative position of said first and said second carriage,
  • the suction cup support comprises a first articulated connection connected to a first carriage and a second articulated connection connected to a second carriage, the inclination of the contact plane of the suction cup being determined by the relative position of said first and said second carriage,
  • said first articulated connection consists of a deformable parallelogram
  • the suction cup is supported by a plate connected by a first pivot to the first connection and by a second pivot to the second connection,
  • the suction cups are connected by pipes to a vacuum chamber secured to said closed track by means of a connection zone with the vacuum chamber by means of a rotary joint,
  • each mobile unit comprises an additional carriage connected to a suction cup support carriage by a pneumatic pump
  • a feeder comprising a first column for loading the flat elements, provided with a lower fork for receiving a stack of flat elements, a conveyor belt separated by a slot corresponding to the geometry of said fork and a second column arranged under the sampling zone, provided with a lower fork engaging between the downstream ends of said belt conveyor.
  • FIG. 1 shows a schematic view of an installation according to the present invention
  • FIG. 2 shows a view of an alternative embodiment of a suction cup support
  • FIG. 2a shows another view of a suction cup support
  • FIG. 3 to 9 show the cycle of laying and removing a blank.
  • Figure 1 shows an overview of the upstream part of a carton installation. It comprises, in known manner, a supply unit (100) for supplying and loading the blank stacks (101) and a conveyor (200) for the unstacked blanks (301).
  • the transfer between the stack of blanks (102) of the destacker (110) on the vacuum conveyor (200) is carried out by a transfer unit (300) object of the invention.
  • this transfer unit (300) The role of this transfer unit (300) is to take the blank (111) present on the upper surface of the destacker (110), at zero horizontal speed to avoid any slippage relative to the next blank, which could cause scuffing or degradation.
  • the surface finish for example varnished sheets.
  • the transfer unit controls an angular displacement of the suction head to modify the contact plane with respect to the plane parallel to the plane of the conveyor by a few degrees, according to an example solution described in the following.
  • the blank (111) detached from the stack of the destacker (102) then passes from a zero horizontal speed to a horizontal identical to that of the vacuum conveyor (300).
  • the transfer unit (300) controls the release of the blank, when the relative speed between the suction cup and the conveyor is zero, to apply the blank transferred to the conveyor.
  • this patent is meant by “horizontal" the plane formed by the upper surface of the suction belt of the conveyor (200).
  • the supply unit (100) comprises a loading station (120) constituted by a loading plate (121) whose bottom consists of a fork (122) having several teeth connected at the rear by a cross member ( 123). The teeth are spaced apart at intervals corresponding to the spacing of the belts (131) of a belt conveyor (130).
  • This belt conveyor (130) moves the blank stacks between the loading station (120) and the destacker (110).
  • the plate (121) is movable vertically relative to a motorized frame (132) between a high loading position, allowing an operator to deposit a stack of blanks (101) without bending down, and a low position where the bottom of the stack comes to rest on the belts (131) of the belt conveyor
  • the belt conveyor (130) moves a new stack in the destacker (110).
  • the destacker (110) also comprises a plate (112) constituted by a crosspiece provided with spaced teeth to be inserted between the belts (131) of the belt conveyor (130).
  • This plate (112) is movable relative to a motorized frame (113) between a low position, less than the surface of the strips
  • FIG. 3 represents a schematic view of an exemplary embodiment of a mobile assembly controlling the trajectory and the orientation of the suction cup (430).
  • the suction cup (430) is actuated by a crew formed by a downstream carriage (410) and an upstream carriage (420).
  • the two carriages (410, 420) are in known manner equipped with permanent magnets electro-magnetically coupled with the electric coils equipping the stator (250), to form a pair of linear motors.
  • the control of the power supply to the stator coils makes it possible to control the independent movement of each of the carriages (410, 420) constituting a mobile assembly.
  • This piloting makes it possible to control the speed and the amplitude of the movement of each of the carriages (410, 420), the direction of movement, and of course the relative movement of the downstream carriage (410) of the moving assembly relative to the upstream carriage (420) of the same mobile equipment.
  • the suction cup (430) is supported by a tilting plate (431) connected by a pivot to the lower arm (424) of a structure forming a deformable parallelogram.
  • This deformable parallelogram is formed by an upper arm (421) fixed on the upstream carriage (420).
  • the lower arm (424) and the upper arm (421) are connected by two parallel arms (422, 423) by means of pivots.
  • tilting plate (431) Another point of the tilting plate (431) is connected by a pivot to a connecting rod (411) to the downstream carriage (410).
  • the deformation of the deformable parallelogram connecting the suction cup (430) to the upstream carriage (420) determines the distance between the suction cup (430) and the rail (250) and makes it possible to control the vertical positioning of the suction cup (430).
  • the relative movement of the upstream carriage (420) relative to the downstream carriage (410) modifies the inclination of the tilting plate (431).
  • Figure 2bis shows a perspective view of the connection between a line of suction cups (430) mounted on a grooved or square rod (460).
  • the suction cups are fixed to the rod (460) by a flange (465) which can be moved along the rod (460) to adapt the lateral position of the suction cup (s) (430) to the dimensions of the blank to be moved, then tightened on the rod (460). All the suction cups (430) mounted on the same rod rotate at the same time.
  • the rod is rotated by the tilting plate (431) which is articulated on either side of the rod (460), relative to a pair of front arms (422, 442) and rear arms (424 , 444).
  • the other ends of its arms are articulated with respect to the upper plate (421), the assembly forming a pair of deformable parallelograms.
  • a connecting rod (450) is positioned inside the parallelogram and has the function of amplifying the rotation of the suction cup (430) when the parallelogram reaches the end of its travel in one direction.
  • Figures 3 to 9 show a non-limiting example of kinematics of taking and depositing a blank (111) present, at the deposition, at the top of the stack of the destacker.
  • FIG. 2 represents the crew in the arrival position of the suction cup, when approaching the destacker.
  • the electrical control circuit controls the deceleration of the downstream carriage (410) relative to the upstream carriage (420).
  • FIG. 3 represents the position when the suction cup (430) is brought into contact with the upper blank (111).
  • the control circuit continues to command a deceleration of the downstream carriage (410) relative to the upstream carriage (420) and controls the activation of the vacuum in the duct connected to the active suction cup (430).
  • the horizontal displacement of the suction cup is zero.
  • Figure 4 shows the next step of holding the suction cup (430) at a fixed point while continuing the advance of the carriages (410, 420).
  • the control circuit controls the deceleration of the downstream carriage (410) relative to the upstream carriage (420).
  • the next step is illustrated in FIG. 5, representing the detachment of the blank (111) relative to the stack of the destacker.
  • the downstream carriage (410) is continued to slow down relative to the upstream carriage (420), the two continuing to advance.
  • Figure 6 shows the vertical movement of the blank (111) maintained by the suction cup (430).
  • the next step shown in FIG. 7 corresponds to the acceleration of the moving assembly to go from zero speed to a speed corresponding to that of the conveyor, to synchronize the speeds.
  • Figure 8 shows the removal of the blank (111) on the conveyor (300).
  • the operating sequence is as follows:
  • SQ6 Acceleration of the carriages for speed synchronization (cardboard / carpet).
  • SQ7 Positioning of the cardboard on the machine belt

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Sheets, Magazines, And Separation Thereof (AREA)

Abstract

The invention relates to an apparatus for depiling sheets stacked by a transfer unit comprising a plurality of suction cups (430), said transfer system consisting of a closed-loop linear motor (200) driving a plurality of movable mechanisms supporting the suction cup (430) supports.

Description

EQUIPEMENT POUR LE DEPILAGE Domaine de 1 ' invention  FIELD EQUIPMENT Field of the invention
La présente invention concerne le domaine du dépilage d'objets plans empilés dans un chargeur, en particulier de feuilles en carton découpées, de feuilles semi-rigides en PVC ou encore de circuits imprimés empilés dans un chargeur et du transfert de ces objets entre le chargeur et un tapis de transfert . The present invention relates to the field of unstacking of flat objects stacked in a loader, in particular of cut cardboard sheets, semi-rigid PVC sheets or of printed circuits stacked in a loader and of the transfer of these objects between the loader and a transfer mat.
De tels dépileurs comportent un mécanisme d'entraînement d'une ventouse qui est alternativement approchée, mise en contact puis écartée de la pile de feuilles. La ventouse est plaquée sur la feuille supérieure de la pile, et entraîne ensuite la feuille supérieure pour l'éloigner de la pile avant de la déposer sur une autre zone de travail, par exemple sur un convoyeur à dépression.  Such destackers include a mechanism for driving a suction cup which is alternately approached, brought into contact and then moved away 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 work area, for example on a vacuum conveyor.
Afin de permettre un fonctionnement à de très grandes cadences avec une précision et une reproductibilité de la dépose, il est important de synchroniser les vitesses de prise et de dépose de la feuille, et donc de démarrer avec une vitesse nulle, la position de la feuille sur le chargeur étant fixe, et une vitesse égale à celle de convoyeur à bande. Ceci implique donc une forte accélération et une grande précision des vitesses de déplacement pendant cette étape de transfert.  In order to allow operation at very high rates with precision and reproducibility of the deposition, it is important to synchronize the picking and deposition speeds of the sheet, and therefore to start with a zero speed, the position of the sheet on the loader being fixed, and a speed equal to that of belt conveyor. This therefore implies a strong acceleration and a high precision of the travel speeds during this transfer step.
Etat de la technique State of the art
On connaît dans l'état de la technique la demande de brevet US2013/170928 décrivant un système de palettes une piste sans fin d'un bout à l'autre d'une zone d'impression et d'une zone de manipulation. Dans la zone d'impression, les palettes sont temporairement regroupées de manière à supporter et à déplacer un support d'impression au cours de l'impression à une vitesse sensiblement constante. Dans la zone de manipulation, les palettes sont espacées les unes des autres lorsqu'elles reviennent vers la zone d'impression sans supporter aucun support d'impression. Known in the prior art patent application US2013 / 170928 describing a pallet system an endless track from one end to the other of a printing area and a handling area. In the printing area, the pallets are temporarily grouped together to support and move a print medium during printing at a substantially constant speed. In the handling area, the pallets are spaced from each other when they return to the print area without supporting any print media.
La demande de brevet internationale W02017021103 décrit un procédé pour retirer des feuilles de placage d'une pile, selon lequel une première feuille d'une pile est retirée de la pile au moyen d'un dispositif aspirant d'un préhenseur mobile et la feuille est ensuite transférée sur un convoyeur puis transportée, ledit procédé étant caractérisé en ce qu ' après avoir été soulevée par un premier préhenseur, la feuille est remise à un second préhenseur qui la transfère au convoyeur.  International patent application WO2017021103 describes a method for removing veneer sheets from a stack, according to which a first sheet from a stack is removed from the stack by means of a suction device of a movable gripper and the sheet is then transferred to a conveyor and then transported, said method being characterized in that after having been lifted by a first gripper, the sheet is given to a second gripper which transfers it to the conveyor.
Le brevet français FR2623473 décrit un dispositif de transfert d'une pile de flans pour cartons depuis une palette jusqu'au magasin d'une machine à emballer dans des cartons, dans lequel les flans en carton sont disposés verticalement l'un à côté de l'autre, en particulier pour l'industrie du tabac, caractérisé par les particularités suivantes :  French patent FR2623473 describes a device for transferring a stack of blanks for cartons from a pallet to the store of a machine for packing in cartons, in which the carton blanks are arranged vertically one next to the other, in particular for the tobacco industry, characterized by the following features:
a) un chariot de déchargement, qui peut pivoter autour d'un axe horizontal pour passer d'une position sensiblement verticale à une position sensiblement horizontale, comporte une fourche de déchargement qui est mobile le long du chariot de déchargement  a) an unloading carriage, which can pivot about a horizontal axis to pass from a substantially vertical position to a substantially horizontal position, comprises an unloading fork which is movable along the unloading carriage
b) dans la position verticale du chariot de déchargement et donc dans la position horizontale de la fourche de déchargement, les dents de cette dernière peuvent coulisser pour venir sous la pile dans les intervalles entre les planches de la face supérieure de la palette  b) in the vertical position of the unloading carriage and therefore in the horizontal position of the unloading fork, the teeth of the latter can slide to come under the stack in the intervals between the boards of the upper face of the pallet
c) un mécanisme d'entraînement fait coulisser le chariot de déchargement, et donc les dents, dans la direction des intervalles entre les planches de la face supérieure de la palette  c) a drive mechanism slides the unloading carriage, and therefore the teeth, in the direction of the intervals between the boards of the upper face of the pallet
et d) dans le chariot de déchargement est incorporé un mécanisme de transport (pour le transfert des flans individuels depuis le chariot de déchargement, vers le magasin. Inconvénients de l'art antérieur and d) in the unloading cart is incorporated a transport mechanism (for the transfer of the individual blanks from the unloading cart, to the store. Disadvantages of the prior art
Les solutions de l'art antérieur donnent globalement satisfaction, mais sont très délicates à régler et sont très sensibles aux variations de vitesse du tapis convoyeur. Par ailleurs, elles ne tolèrent aucun changement entre deux articles consécutifs . The solutions of the prior art are generally satisfactory, but are very difficult to adjust and are very sensitive to variations in speed of the conveyor belt. Furthermore, they do not tolerate any change between two consecutive articles.
Par ailleurs, les solutions de l'art antérieur ne permettent pas d'individualiser les déplacements, pour appliquer une légère correction de vitesse à l'un des flans transférer car tous les supports de ventouses sont entraînés par le même mécanisme .  Furthermore, the solutions of the prior art do not make it possible to individualize the displacements, in order to apply a slight speed correction to one of the transfer blanks since all the suction cup supports are driven by the same mechanism.
Solution apportée par l'invention Solution provided by the invention
La présente invention concerne selon son acception la plus générale un équipement pour le dépilage de feuilles empilées par une unité de transfert comportant une pluralité de ventouses caractérisé en ce que ledit système de transfert est constitué par un moteur linéaire à piste fermée entraînant une pluralité d'équipages mobiles supportant les supports de ventouse . The present invention relates, in its most general sense, to equipment for unstacking sheets stacked by a transfer unit comprising a plurality of suction cups, characterized in that said transfer system is constituted by a linear motor with closed track driving a plurality of moving parts supporting the suction cup supports.
Selon des variantes, prises isolément ou en combinaison :  According to variants, taken individually or in combination:
- ledit moteur étant constitué par une piste formant une boucle fermée comprenant une pluralité de bobines d'électroaimant alimentées individuellement pour créer des champs électromagnétiques variables, et par une pluralité de chariots comportant au moins un aimant permanent qui coopère magnétiquement avec lesdites bobines d'électro-aimant pour produire un mouvement relatif entre chacun desdits chariots et ladite piste fermée, les supports de ventouses étant fixés sur lesdits chariots,  - Said motor being constituted by a track forming a closed loop comprising a plurality of electromagnet coils supplied individually to create variable electromagnetic fields, and by a plurality of carriages comprising at least one permanent magnet which cooperates magnetically with said electro coils -magnet to produce a relative movement between each of said carriages and said closed track, the suction cup supports being fixed on said carriages,
ledit moteur linéaire présente un tronçon statorique s'étendant au-dessus de la ligne s'étendant entre le point de prise sur un margeur et le point de dépose sur un convoyeur à bandes adjacent, said linear motor has a stator section extending above the line extending between the pick-up point on a feeder and drop-off point on an adjacent belt conveyor,
le support de ventouse comprend une première liaison articulée reliée à un premier chariot et une deuxième liaison articulée reliée à un second chariot, l'inclinaison du plan de contact de la ventouse étant déterminé par la position relative dudit premier et dudit second chariot,  the suction cup support comprises a first articulated connection connected to a first carriage and a second articulated connection connected to a second carriage, the inclination of the contact plane of the suction cup being determined by the relative position of said first and said second carriage,
le support de ventouse comprend une première liaison articulée reliée à un premier chariot et une deuxième liaison articulée reliée à un second chariot, l'inclinaison du plan de contact de la ventouse étant déterminé par la position relative dudit premier et dudit second chariot,  the suction cup support comprises a first articulated connection connected to a first carriage and a second articulated connection connected to a second carriage, the inclination of the contact plane of the suction cup being determined by the relative position of said first and said second carriage,
- ladite première liaison articulée est constituée par un parallélogramme déformable,  - said first articulated connection consists of a deformable parallelogram,
- la ventouse est supportée par une platine reliée par un premier pivot à la première liaison et par un second pivot à la seconde liaison,  the suction cup is supported by a plate connected by a first pivot to the first connection and by a second pivot to the second connection,
- les ventouses sont reliées par des tuyaux à une chambre de dépression solidaire de ladite piste fermée par l'intermédiaire d'une zone de raccordement avec la chambre de dépression par l'intermédiaire d'un joint tournant,  the suction cups are connected by pipes to a vacuum chamber secured to said closed track by means of a connection zone with the vacuum chamber by means of a rotary joint,
chaque équipage mobile comprend un chariot additionnel relié à un chariot de support de ventouse par une pompe pneumatique,  each mobile unit comprises an additional carriage connected to a suction cup support carriage by a pneumatic pump,
- il comprend un margeur comprenant une première colonne pour le chargement des éléments plats, munie d'une fourche inférieure pour la réception d'une pile d'éléments plats, un convoyeur à bandes séparées par une fente correspondant à la géométrie de ladite fourche et une deuxième colonne disposée sous la zone de prélèvement, munie d'une fourche inférieure s'engageant entre les extrémités aval dudit convoyeur à bandes. Description détaillée d'un exemple de réalisation it includes a feeder comprising a first column for loading the flat elements, provided with a lower fork for receiving a stack of flat elements, a conveyor belt separated by a slot corresponding to the geometry of said fork and a second column arranged under the sampling zone, provided with a lower fork engaging between the downstream ends of said belt conveyor. Detailed description of an exemplary embodiment
La présente invention sera mieux comprise à la lecture de la description détaillée d'un exemple non limitatif de l'invention qui suit, se référant aux dessins annexés où : The present invention will be better understood on reading the detailed description of a nonlimiting example of the invention which follows, referring to the accompanying drawings in which:
- la figure 1 représente une vue schématique d'une installation selon la présente invention - Figure 1 shows a schematic view of an installation according to the present invention
- la figure 2 représente une vue d'une variante de réalisation d'un support de ventouse  - Figure 2 shows a view of an alternative embodiment of a suction cup support
- la figure 2 bis représente une autre vue d'un support de ventouses  - Figure 2a shows another view of a suction cup support
- les figures 3 à 9 représentent le cycle de pose et de dépose d'un flan.  - Figures 3 to 9 show the cycle of laying and removing a blank.
Description d'ensemble Overall description
La figure 1 représente une vue d'ensemble de la partie amont d'une installation de cartonnage. Elle comprend de manière connue une unité d'alimentation (100) pour l'approvisionnement et le chargement des piles de flans (101) et un convoyeur (200) des flans dépilés (301). Figure 1 shows an overview of the upstream part of a carton installation. It comprises, in known manner, a supply unit (100) for supplying and loading the blank stacks (101) and a conveyor (200) for the unstacked blanks (301).
Le transfert entre la pile de flans (102) du dépileur (110) sur le convoyeur à dépression (200) est réalisé par une unité de transfert (300) objet de l'invention.  The transfer between the stack of blanks (102) of the destacker (110) on the vacuum conveyor (200) is carried out by a transfer unit (300) object of the invention.
Le rôle de cette unité de transfert (300) est de prendre le flan (111) présent à la surface supérieure du dépileur (110), à vitesse horizontale nulle pour éviter tout glissement par rapport au flan suivant, qui pourrait occasionner des éraflures ou dégradation de l'état de surface, s'il s'agit par exemple de feuilles vernis.  The role of this transfer unit (300) is to take the blank (111) present on the upper surface of the destacker (110), at zero horizontal speed to avoid any slippage relative to the next blank, which could cause scuffing or degradation. the surface finish, for example varnished sheets.
Lors de la prise de contact entre la ventouse de l'unité de transfert (300) et le flan supérieur (111), il est usuel d'appliquer d'abord, avant tout déplacement vers le convoyeur (200), une légère angulation pour faciliter le décollage par rapport au flan suivant et compenser l'effet de collage électrostatique. Pour cela, l'unité de transfert commande un déplacement angulaire de tête d'aspiration pour modifier le plan de contact par rapport au plan parallèle au plan du convoyeur de quelques degrés, selon un exemple de solution décrit dans ce qui suit. When contact is made between the suction cup of the transfer unit (300) and the upper blank (111), it is usual to apply first, before any movement towards the conveyor (200), a slight angulation to facilitate takeoff with respect to the next blank and compensate for the effect of electrostatic bonding. For this, the transfer unit controls an angular displacement of the suction head to modify the contact plane with respect to the plane parallel to the plane of the conveyor by a few degrees, according to an example solution described in the following.
Le flan (111) détaché de la pile du dépileur (102) passe ensuite d'une vitesse horizontale nulle à une horizontale identique à celle du convoyeur à dépression (300). L'unité de transfert (300) commande alors la libération du flan, lorsque la vitesse relative entre la ventouse et le convoyeur est nulle, pour appliquer le flan transféré sur le convoyeur. On entend dans le présent brevet par « horizontal » le plan formé par la surface supérieure du tapis aspirant du convoyeur (200).  The blank (111) detached from the stack of the destacker (102) then passes from a zero horizontal speed to a horizontal identical to that of the vacuum conveyor (300). The transfer unit (300) then controls the release of the blank, when the relative speed between the suction cup and the conveyor is zero, to apply the blank transferred to the conveyor. In this patent is meant by "horizontal" the plane formed by the upper surface of the suction belt of the conveyor (200).
Il est à noter que cette cinématique précise doit être réalisée sur une installation fonctionnant à des cadences très élevées, typiquement 10.000 flans par heure, et pendant des périodes longues, typiquement plusieurs heures, sans disfonctionnement ni interruption, et avec un minimum de temps de calage et de réglage initial.  It should be noted that this precise kinematics must be carried out on an installation operating at very high rates, typically 10,000 blanks per hour, and for long periods, typically several hours, without malfunction or interruption, and with a minimum of setting time. and initial setting.
Fonctionnement de l'unité d'alimentation (100) Power unit operation (100)
L'unité d'alimentation (100) comporte un poste de chargement (120) constitué par un plateau de chargement (121) dont le fond est constitué d'une fourche (122) présentant plusieurs dents reliées à l'arrière par une traverse (123). Les dents sont espacées par des intervalles correspondant à l'espacement des bandes (131) d'un convoyeur à bandes (130). The supply unit (100) comprises a loading station (120) constituted by a loading plate (121) whose bottom consists of a fork (122) having several teeth connected at the rear by a cross member ( 123). The teeth are spaced apart at intervals corresponding to the spacing of the belts (131) of a belt conveyor (130).
Ce convoyeur à bandes (130) assure le déplacement des piles de flans entre le poste de chargement (120) et le dépileur ( 110 ) .  This belt conveyor (130) moves the blank stacks between the loading station (120) and the destacker (110).
Le plateau (121) est mobile verticalement par rapport à un bâti motorisé (132) entre une position haute de chargement, permettant à un opérateur de déposer une pile de flans (101) sans se baisser, et une position basse où le bas de la pile vient reposer sur les bandes (131) du convoyeur à bandesThe plate (121) is movable vertically relative to a motorized frame (132) between a high loading position, allowing an operator to deposit a stack of blanks (101) without bending down, and a low position where the bottom of the stack comes to rest on the belts (131) of the belt conveyor
(130) . (130).
Lorsque la pile de flans du dépileur (110) est complètement transférée, le convoyeur à bandes (130) assure le déplacement d'une nouvelle pile dans le dépileur (110).  When the stack of blanks from the destacker (110) is completely transferred, the belt conveyor (130) moves a new stack in the destacker (110).
Le dépileur (110) comporte également un plateau (112) constitué par une traverse munie de dents espacées pour s'intercaler entre les bandes (131) du convoyeur à bandes (130). Ce plateau (112) est mobile par rapport à un bâti motorisé (113) entre une position basse, inférieure à la surface des bandes The destacker (110) also comprises a plate (112) constituted by a crosspiece provided with spaced teeth to be inserted between the belts (131) of the belt conveyor (130). This plate (112) is movable relative to a motorized frame (113) between a low position, less than the surface of the strips
(131), où il peut venir en contact avec la surface inférieure d'une pile présente sur le convoyeur à bandes (130), et des positions de travail où le plateau (112) est remonté séquentiellement pour que le flan supérieur (111) soit positionné dans le plan horizontal de prise par une ventouse de l'unité de transfert (200). (131), where it can come into contact with the lower surface of a stack present on the belt conveyor (130), and working positions where the plate (112) is raised sequentially so that the upper blank (111) is positioned in the horizontal grip plane by a suction cup of the transfer unit (200).
Description détaillée d'un support de ventouse Detailed description of a suction cup holder
La figure 3 représente une vue schématique d'un exemple de réalisation d'un équipage mobile commandant la trajectoire et l'orientation de la ventouse (430). FIG. 3 represents a schematic view of an exemplary embodiment of a mobile assembly controlling the trajectory and the orientation of the suction cup (430).
La ventouse (430) est actionnée par un équipage formé par un chariot aval (410) et un chariot amont (420).  The suction cup (430) is actuated by a crew formed by a downstream carriage (410) and an upstream carriage (420).
Les deux chariots (410, 420) sont de manière connue équipés d'aimants permanents couplés électro-magnétiquement avec les bobines électriques équipant le stator (250), pour former un couple de moteurs linéaires.  The two carriages (410, 420) are in known manner equipped with permanent magnets electro-magnetically coupled with the electric coils equipping the stator (250), to form a pair of linear motors.
Le pilotage de l'alimentation des bobines statoriques permet de commander le déplacement indépendant de chacun des chariots (410, 420) constituant un équipage mobile. Ce pilotage permet de commander la vitesse et l'amplitude du déplacement de chacun des chariots (410, 420), le sens du déplacement, et bien sur le déplacement relatif du chariot aval (410) de l'équipage mobile par rapport au chariot amont (420) du même équipage mobile. La ventouse (430) est supportée par une platine basculante (431) reliée par un pivot au bras inférieur (424) d'une structure formant un parallélogramme déformable. Ce parallélogramme déformable est formé par un bras supérieur (421) fixé sur le chariot amont (420). Le bras inférieur (424) et le bras supérieur (421) sont reliés par deux bras parallèles (422, 423) par l'intermédiaire de pivots. The control of the power supply to the stator coils makes it possible to control the independent movement of each of the carriages (410, 420) constituting a mobile assembly. This piloting makes it possible to control the speed and the amplitude of the movement of each of the carriages (410, 420), the direction of movement, and of course the relative movement of the downstream carriage (410) of the moving assembly relative to the upstream carriage (420) of the same mobile equipment. The suction cup (430) is supported by a tilting plate (431) connected by a pivot to the lower arm (424) of a structure forming a deformable parallelogram. This deformable parallelogram is formed by an upper arm (421) fixed on the upstream carriage (420). The lower arm (424) and the upper arm (421) are connected by two parallel arms (422, 423) by means of pivots.
Un autre point de la platine basculante (431) est relié par un pivot à une bielle (411) au chariot aval (410).  Another point of the tilting plate (431) is connected by a pivot to a connecting rod (411) to the downstream carriage (410).
La déformation du parallélogramme déformable reliant la ventouse (430) au chariot amont (420) détermine la distance entre la ventouse (430) et le rail (250) et permet de commander le positionnement vertical de la ventouse (430).  The deformation of the deformable parallelogram connecting the suction cup (430) to the upstream carriage (420) determines the distance between the suction cup (430) and the rail (250) and makes it possible to control the vertical positioning of the suction cup (430).
Le déplacement relatif du chariot amont (420) par rapport au chariot aval (410) modifie l'inclinaison de la platine basculante (431).  The relative movement of the upstream carriage (420) relative to the downstream carriage (410) modifies the inclination of the tilting plate (431).
Description détaillée du support d'une ligne de ventouses Detailed description of the support for a suction cup line
La figure 2bis représente une vue en perspective de la liaison entre une ligne de ventouses (430) montées sur une tige cannelée ou carrée (460). Les ventouses sont fixées sur la tige (460) par une bride (465) qui peut être déplacé le long de la tige (460) pour adapter la position latérale de la ou des ventouses (430) aux dimensions de flan à déplacés, puis serrés sur la tige (460). Toutes les ventouses (430) montées sur une même tige pivotent en même temps . Figure 2bis shows a perspective view of the connection between a line of suction cups (430) mounted on a grooved or square rod (460). The suction cups are fixed to the rod (460) by a flange (465) which can be moved along the rod (460) to adapt the lateral position of the suction cup (s) (430) to the dimensions of the blank to be moved, then tightened on the rod (460). All the suction cups (430) mounted on the same rod rotate at the same time.
La rotation de la tige est assurée par la platine basculante (431) qui est articulée, de part et d'autre de la tige (460), par rapport à une paire de bras avant (422, 442) et de bras arrière (424, 444). Les autres extrémités de ses bras sont articulées par rapport à la platine supérieure (421), l'ensemble formant une paire de parallélogrammes déformables.  The rod is rotated by the tilting plate (431) which is articulated on either side of the rod (460), relative to a pair of front arms (422, 442) and rear arms (424 , 444). The other ends of its arms are articulated with respect to the upper plate (421), the assembly forming a pair of deformable parallelograms.
Une bielle (450) est positionnée à l'intérieur du parallélogramme et a pour fonction d'amplifier la rotation de la ventouse (430) quand le parallélogramme arrive en bout de course dans un sens. A connecting rod (450) is positioned inside the parallelogram and has the function of amplifying the rotation of the suction cup (430) when the parallelogram reaches the end of its travel in one direction.
Description d'un exemple de cinématique Description of an example of kinematics
Les figures 3 à 9 représentent un exemple non limitatif de cinématique de prise et dépose d'un flan (111) présent, au dépôt, au sommet de la pile du dépileur. Figures 3 to 9 show a non-limiting example of kinematics of taking and depositing a blank (111) present, at the deposition, at the top of the stack of the destacker.
La figure 2 représente l'équipage en position d'arrivée de la ventouse, en approche du dépileur. Le circuit de pilotage électrique commande le ralentissement du chariot aval (410) par rapport au chariot amont (420).  FIG. 2 represents the crew in the arrival position of the suction cup, when approaching the destacker. The electrical control circuit controls the deceleration of the downstream carriage (410) relative to the upstream carriage (420).
La figure 3 représente la position lors de la mise en contact de la ventouse (430) avec le flan supérieur (111). Le circuit de pilotage continue à commander un ralentissement du chariot aval (410) par rapport au chariot amont (420) et commande l'activation du vide dans le conduit relié à la ventouse active (430). Le déplacement horizontal de la ventouse est nul.  FIG. 3 represents the position when the suction cup (430) is brought into contact with the upper blank (111). The control circuit continues to command a deceleration of the downstream carriage (410) relative to the upstream carriage (420) and controls the activation of the vacuum in the duct connected to the active suction cup (430). The horizontal displacement of the suction cup is zero.
La figure 4 représente l'étape suivante de maintien de la ventouse (430) à un point fixe tout en continuant l'avance des chariots (410, 420). Le circuit de pilotage commande le maintien du ralentissement du chariot aval (410) par rapport au chariot amont (420).  Figure 4 shows the next step of holding the suction cup (430) at a fixed point while continuing the advance of the carriages (410, 420). The control circuit controls the deceleration of the downstream carriage (410) relative to the upstream carriage (420).
L'étape suivante est illustrée par la figure 5, représentant le décollement du flan (111) par rapport à la pile du dépileur. On continue à ralentir le chariot aval (410) par rapport au chariot amont (420), les deux continuant à avancer.  The next step is illustrated in FIG. 5, representing the detachment of the blank (111) relative to the stack of the destacker. The downstream carriage (410) is continued to slow down relative to the upstream carriage (420), the two continuing to advance.
La figure 6 représente le déplacement vertical du flan (111) maintenu par la ventouse (430).  Figure 6 shows the vertical movement of the blank (111) maintained by the suction cup (430).
L'étape suivante représentée en figure 7 correspond à l'accélération de l'équipage mobile pour passer d'une vitesse nulle à une vitesse correspondant à celle du convoyeur, pour synchroniser les vitesses.  The next step shown in FIG. 7 corresponds to the acceleration of the moving assembly to go from zero speed to a speed corresponding to that of the conveyor, to synchronize the speeds.
La figure 8 représente la dépose du flan (111) sur le convoyeur (300). La séquence de fonctionnement est la suivante : Figure 8 shows the removal of the blank (111) on the conveyor (300). The operating sequence is as follows:
SQ1 : Sortie de courbe, approche du carton SQ1: Exit of curve, approach to cardboard
- Ralentissement de la vitesse du premier chariot / au second.  - Slow down of the speed from the first carriage / to the second.
SQ2 : Mise en contact des ventouses avec le carton SQ2: Contact of the suction cups with the cardboard
- -Ralentissement de la vitesse du premier chariot / au second - -Slowening of the speed of the first carriage / to the second
- Activation du vide. SQ3 : Maintien des ventouses à un point fixe tout en continuant l'avance des chariots - Activation of the vacuum. SQ3: Maintaining the suction cups at a fixed point while continuing to advance the carriages
- Ralentissement de la vitesse du premier chariot / au second.  - Slow down of the speed from the first carriage / to the second.
SQ4 : « Décollement » du carton / à la pile SQ4: “Peeling” from the carton / stack
- Ralentissement de la vitesse du premier chariot / au second - Slow down of the speed of the first carriage / to the second
(toute en continuant à avancer) . (while continuing to advance).
SQ5 : « Décollement » du carton / à la pile (prise de hauteur)SQ5: "Peeling" of the cardboard / stack (height measurement)
- -Ralentissement de la vitesse du premier chariot / au second (toute en continuant à avancer) . - Slower speed from the first carriage / to the second (while continuing to advance).
SQ6 : Accélération des chariots pour synchronisation des vitesses (carton/tapis). SQ7 : Positionnement du carton sur le tapis machine SQ6: Acceleration of the carriages for speed synchronization (cardboard / carpet). SQ7: Positioning of the cardboard on the machine belt
- - Accélération de la vitesse du premier chariot / au second (toute en continuant à avancer)  - - Speed acceleration from the first carriage / to the second (while continuing to advance)
- - Mise au pas des cartons  - - Pitching of cartons
- - Coupure du vide créant la dépression d'aspiration des ventouses  - - Vacuum cut creating vacuum suction suction
SQ8 : Dégagement et bouclage des chariots autour de la piste fermée . SQ8: Clearance and looping of the carriages around the closed runway.
- Accélération des chariots et entrée dans la courbe de retour .  - Acceleration of the carriages and entry into the return curve.

Claims

Revendications  Claims
1 - Équipement pour le dépilage de feuilles empilées par une unité de transfert comportant une pluralité de ventouses (430) caractérisé en ce que ledit système de transfert est constitué par un moteur linéaire à piste fermée (200) entraînant une pluralité d'équipages mobiles supportant les supports de ventouse (430). 1 - Equipment for unstacking sheets stacked by a transfer unit comprising a plurality of suction cups (430) characterized in that said transfer system is constituted by a linear motor with closed track (200) driving a plurality of mobile crews supporting the suction cup supports (430).
2 - Équipement pour le dépilage de feuilles empilées selon la revendication 1 caractérisé en ce que ledit moteur linéaire (200) est constitué par une piste (250) formant une boucle fermée comprenant une pluralité de bobines d'électroaimant alimentées individuellement pour créer des champs électromagnétiques variables, et par une pluralité de chariots (410, 420) comportant au moins un aimant permanent qui coopère magnétiquement avec lesdites bobines d'électro-aimant pour produire un mouvement relatif entre chacun desdits chariots et ladite piste fermée, les supports de ventouses étant fixés sur lesdits chariots. 2 - Equipment for unstacking stacked sheets according to claim 1 characterized in that said linear motor (200) consists of a track (250) forming a closed loop comprising a plurality of electromagnet coils supplied individually to create electromagnetic fields variable, and by a plurality of carriages (410, 420) comprising at least one permanent magnet which cooperates magnetically with said electromagnet coils to produce a relative movement between each of said carriages and said closed track, the suction cup supports being fixed on said carriages.
3 - Équipement pour le dépilage de feuilles empilées selon la revendication 1 caractérisé en ce que ledit moteur linéaire (200) présente un tronçon statorique s'étendant au- dessus de la ligne s'étendant entre le point de prise sur un margeur (100) et le point de dépose sur un convoyeur à bandes adjacent ( 300 ) . 3 - Equipment for unstacking stacked sheets according to claim 1 characterized in that said linear motor (200) has a stator section extending above the line extending between the gripping point on a feeder (100) and the drop-off point on an adjacent belt conveyor (300).
4 - Équipement pour le dépilage de feuilles empilées selon la revendication 1 caractérisé en ce que le support de ventouse (430) comprend une première liaison articulée reliée à un premier chariot (420) et une deuxième liaison articulée reliée à un second chariot (410), l'inclinaison du plan de contact de la ventouse et/ou la distance par rapport aux plans de prise/dépose étant déterminée par la position relative dudit premier (420) et dudit second chariot (410). 4 - Equipment for unstacking stacked sheets according to claim 1 characterized in that the suction cup support (430) comprises a first articulated connection connected to a first carriage (420) and a second articulated connection connected to a second carriage (410) , the inclination of the contact plane of the suction cup and / or the distance from the plane of pick-up / drop-off being determined by the relative position of said first (420) and said second carriage (410).
5 - Équipement pour le dépilage de feuilles empilées selon la revendication 4 caractérisé en ce que le support de ventouse est constitué par une platine basculante (431) articulée d'une part par rapport à la première liaison articulée et d'autre part par rapport à la deuxième liaison articulée. 5 - Equipment for unstacking stacked sheets according to claim 4 characterized in that the suction cup support consists of a tilting plate (431) articulated on the one hand with respect to the first articulated connection and on the other hand with respect to the second articulated link.
6 - Équipement pour le dépilage de feuilles empilées selon la revendication 5 caractérisé en ce que ladite première liaison articulée est constituée par un parallélogramme déformable . 6 - Equipment for unstacking stacked sheets according to claim 5 characterized in that said first articulated connection is constituted by a deformable parallelogram.
7 - Équipement pour le dépilage de feuilles empilées selon la revendication 4 caractérisé en ce que les ventouses sont reliées par des tuyaux à une chambre de dépression solidaire de ladite piste fermée par l'intermédiaire d'une zone de raccordement avec la chambre de dépression par l'intermédiaire d'un joint tournant. 7 - Equipment for unstacking stacked sheets according to claim 4 characterized in that the suction cups are connected by pipes to a vacuum chamber secured to said track closed by means of a connection zone with the vacuum chamber by through a rotating joint.
8 - Équipement pour le dépilage de feuilles empilée selon la revendication 1 caractérisé en ce que chaque équipage mobile comprend un chariot additionnel relié à un chariot de support de ventouse par une pompe pneumatique. 8 - Equipment for unstacking stacked sheets according to claim 1 characterized in that each movable assembly comprises an additional carriage connected to a suction cup support carriage by a pneumatic pump.
9 - Équipement pour le dépilage de feuilles empilées selon la revendication 1 caractérisé en ce qu'il comprend un margeur comprenant une première colonne pour le chargement des éléments plats, munie d'une fourche inférieure pour la réception d'une pile d'éléments plats, un convoyeur à bandes séparées par une fente correspondant à la géométrie de ladite fourche et une deuxième colonne disposée sous la zone de prélèvement, munie d'une fourche inférieure s'engageant entre les extrémités aval dudit convoyeur à bandes . 9 - Equipment for unstacking stacked sheets according to claim 1 characterized in that it comprises a feeder comprising a first column for loading the flat elements, provided with a lower fork for receiving a stack of flat elements , a belt conveyor separated by a slot corresponding to the geometry of said fork and a second column arranged under the picking zone, provided with a lower fork engaging between the downstream ends of said belt conveyor.
EP19774139.0A 2018-08-28 2019-08-26 Depiling apparatus Active EP3844089B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1857723A FR3085364B1 (en) 2018-08-28 2018-08-28 DEPILING EQUIPMENT
PCT/FR2019/051962 WO2020043984A1 (en) 2018-08-28 2019-08-26 Depiling apparatus

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EP3844089A1 true EP3844089A1 (en) 2021-07-07
EP3844089B1 EP3844089B1 (en) 2022-06-01

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Family Cites Families (7)

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Publication number Priority date Publication date Assignee Title
DE3739659C1 (en) * 1987-11-23 1989-03-23 Bat Cigarettenfab Gmbh Device for feeding a stack of cardboard blanks to a magazine
FR2664883B1 (en) 1990-07-20 1993-03-19 Esatec ROTARY MARGIN FOR PRECISE PLACEMENT OF SHEET ELEMENTS ON FLAT SUPPORTS.
ATE280118T1 (en) 1999-07-13 2004-11-15 Esatec Etudes Services Automat METHOD FOR STACKING SHEETS IN A SHEET FEEDER
EP1547230B1 (en) 2002-06-05 2017-03-22 Jacobs Automation, Inc. Controlled motion system
EP2151405B1 (en) 2008-08-08 2012-06-27 Müller Martini Holding AG Device for loading a processing device with printed products
US9067408B2 (en) * 2011-02-10 2015-06-30 Hewlett-Packard Development Company, L.P. Printing media supportable on movable pallets
DE102015112625A1 (en) * 2015-07-31 2017-02-16 Hanses Sägewerkstechnik GmbH & Co. KG Method for destacking veneer sheets

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WO2020043984A1 (en) 2020-03-05
FR3085364A1 (en) 2020-03-06
FR3085364B1 (en) 2020-10-02

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