EP3844089B1 - Depiling apparatus - Google Patents
Depiling apparatus Download PDFInfo
- Publication number
- EP3844089B1 EP3844089B1 EP19774139.0A EP19774139A EP3844089B1 EP 3844089 B1 EP3844089 B1 EP 3844089B1 EP 19774139 A EP19774139 A EP 19774139A EP 3844089 B1 EP3844089 B1 EP 3844089B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- suction cup
- carriage
- sheets according
- unstacking
- 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.)
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- 238000006073 displacement reaction Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 230000004913 activation Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
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- 238000013459 approach Methods 0.000 description 1
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- 238000012937 correction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 235000021183 entrée Nutrition 0.000 description 1
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- BASFCYQUMIYNBI-UHFFFAOYSA-N platinum Chemical compound [Pt] BASFCYQUMIYNBI-UHFFFAOYSA-N 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000007723 transport mechanism Effects 0.000 description 1
- 238000010977 unit operation Methods 0.000 description 1
- 239000002966 varnish Substances 0.000 description 1
Images
Classifications
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- 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
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- 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
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- 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
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- 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
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- 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 flat objects stacked in a charger, in particular cut cardboard sheets, semi-rigid PVC sheets or even printed circuits stacked in a charger and the transfer of these objects between the charger and a transfer mat.
- Such unstackers comprise 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.
- the international patent application WO2017021103 describes a method for removing veneer sheets from a stack, in which a first sheet of a stack is removed from the stack by means of a suction device of a movable gripper and the sheet is then transferred onto a conveyor and then transported, said method being characterized in that after having been lifted by a first gripper, the sheet is delivered to a second gripper which transfers it to the conveyor.
- the present invention relates, in its most general sense, to equipment for unstacking stacked sheets according to claim 1.
- the figure 1 shows an overview of the upstream part of a cartoning installation. It comprises, in known manner, a supply unit (100) for supplying and loading the stacks of blanks (101) and a conveyor (200) of 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) which is the subject of the invention.
- this transfer unit (300) The role of this transfer unit (300) is to take the blank (111) present at the upper surface of the destacker (110), at zero horizontal speed to avoid any slippage with respect to the following blank, which could cause scratches or damage. the surface condition, if it is for example varnish sheets.
- the transfer unit controls an angular displacement of the suction head to modify the plane of contact with respect to the plane parallel to the plane of the conveyor by a few degrees, according to an example of a solution described below.
- the blank (111) detached from the stack of the destacker (102) then passes from zero horizontal speed to a horizontal speed 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 transferred blank to the conveyor.
- horizontal means the plane formed by the upper surface of the suction belt of the conveyor (200).
- the supply unit (100) comprises a loading station (120) consisting of a loading plate (121) the bottom of which consists of a fork (122) having several teeth connected at the rear by a crosspiece ( 123). The teeth are spaced at intervals corresponding to the spacing of the belts (131) of a conveyor belt (130).
- This belt conveyor (130) moves the stacks of blanks between the loading station (120) and the destacker (110).
- the plate (121) is vertically movable 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 bands (131) of the belt conveyor (130).
- the belt conveyor (130) moves a new stack into the destacker (110).
- the unstacker (110) also comprises a plate (112) constituted by a crosspiece provided with teeth spaced apart to fit between the strips (131) of the belt conveyor (130).
- This plate (112) is movable relative to a motorized frame (113) between a low position, lower than the surface of the strips (131), where it can come into contact with the lower surface of a stack present on the conveyor strips (130), and working positions where the plate (112) is raised sequentially so that the upper blank (111) is positioned in the horizontal gripping plane by a suction cup of the transfer unit (200).
- the picture 3 represents a schematic view of an embodiment of a moving assembly controlling the trajectory and 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 electromagnetically coupled with the electric coils equipping the stator (250), to form a pair of linear motors.
- Controlling the supply of the stator coils makes it possible to control the independent movement of each of the carriages (410, 420) constituting a moving assembly. This control makes it possible to control the speed and the amplitude of the movement of each of the carriages (410, 420), the direction of the movement, and of course the relative movement of the downstream carriage (410) of the mobile assembly with respect to the upstream carriage (420) of the same mobile assembly.
- 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 to the upstream carriage (420).
- the lower arm (424) and the upper arm (421) are connected by two parallel arms (422, 423) via 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 Figure 2bis shows a perspective view of the connection between a line of suction cups (430) mounted on a splined or square rod (460).
- the suction cups are fixed on 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 pivot at the same time.
- the rotation of the rod is ensured by the tilting plate (431) which is articulated, on either side of the rod (460), with respect 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.
- the figures 3 to 9 represent a non-limiting example of kinematics for picking up and depositing a blank (111) present, at the deposit, at the top of the stack of the destacker.
- the figure 2 represents the crew in the arrival position of the suction cup, approaching the unstacker.
- the electric control circuit controls the slowing down of the downstream carriage (410) relative to the upstream carriage (420).
- the picture 3 represents the position when the suction cup (430) is brought into contact with the upper blank (111).
- the control circuit continues to control a slowing down of the downstream carriage (410) relative to the upstream carriage (420) and controls the activation of the vacuum in the conduit connected to the active suction cup (430).
- the horizontal displacement of the suction cup is zero.
- the figure 4 represents the next step of maintaining the suction cup (430) at a fixed point while continuing to advance the carriages (410, 420).
- the control circuit controls the maintenance of the slowing down of the downstream carriage (410) relative to the upstream carriage (420).
- the next step is illustrated by the figure 5 , representing the detachment of the blank (111) relative to the stack of the destacker.
- the downstream carriage (410) continues to be slowed relative to the upstream carriage (420), both continuing to advance.
- the figure 6 represents the vertical displacement of the blank (111) held by the suction cup (430).
- the next step represented in figure 7 corresponds to the acceleration of the moving assembly to pass from zero speed to a speed corresponding to that of the conveyor, to synchronize the speeds.
- the figure 8 represents the placement of the blank (111) on the conveyor (300).
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Sheets, Magazines, And Separation Thereof (AREA)
Description
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 flat objects stacked in a charger, in particular cut cardboard sheets, semi-rigid PVC sheets or even printed circuits stacked in a charger and the transfer of these objects between the charger 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 unstackers comprise 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 speeds with precision and reproducibility of the deposit, it is important to synchronize the pick-up and deposit speeds of the sheet, and therefore to start with zero speed, the position of the sheet on the feeder being fixed, and a speed equal to that of belt conveyor. This therefore implies a strong acceleration and a high precision of the displacement speeds during this transfer step.
On connaît dans l'état de la technique la demande de brevet
La demande de brevet internationale
Le brevet français
- 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
- 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
- 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
- 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) in the vertical position of the unloading trolley and therefore in the horizontal position of the unloading fork, the teeth of the latter can slide to come under the stack in the gaps between the boards of the upper face of the pallet
- c) a drive mechanism slides the unloading carriage, and thus the tines, in the direction of the gaps between the boards of the upper side of the pallet
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 give overall satisfaction, but are very tricky to adjust and are very sensitive to variations in the speed of the conveyor belt. Moreover, 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 movements, in order to apply a slight speed correction to one of the blanks to be transferred, since all the suction cup supports are driven by the same mechanism.
La présente invention concerne selon son acception la plus générale un équipement pour le dépilage de feuilles empilées conforme à la revendication 1.The present invention relates, in its most general sense, to equipment for unstacking stacked sheets according to claim 1.
Selon des variantes, prises isolément ou en combinaison :
- 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,
- 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,
- ladite première liaison articulée est constituée par un parallélogramme déformable,
- le support de ventouse est constitué par une platine basculante (articulée d'une part par rapport à la première liaison articulée et d'autre part par rapport à la deuxième liaison articulée,
- 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,
- chaque équipage mobile comprend un chariot additionnel relié à un chariot de support de ventouse par une pompe pneumatique,
- 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.
- said motor being constituted by a track forming a closed loop comprising a plurality of electromagnet coils individually powered to create variable electromagnetic fields, and by a plurality of carriages comprising at least one permanent magnet which cooperates magnetically with said electromagnet coils magnet to produce relative movement between each of said carriages and said closed track, the suction cup supports being fixed to said carriages,
- said linear motor has a stator section extending above the line extending between the pick-up point on a feeder and the drop-off point on an adjacent belt conveyor,
- said first articulated connection consists of a deformable parallelogram,
- the suction cup support consists of a tilting plate (articulated on the one hand with respect to the first articulated connection and on the other hand with respect to the second articulated connection,
- the suction cups are connected by pipes to a vacuum chamber integral with said closed track via a connection zone with the vacuum chamber via a rotating joint,
- each moving assembly comprises an additional carriage connected to a suction cup support carriage by a pneumatic pump,
- it comprises a feeder comprising a first column for loading flat elements, provided with a lower fork for receiving a stack of flat elements, a conveyor with belts 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.
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 :
- la
figure 1 représente une vue schématique d'une installation selon la présente invention - la
figure 2 représente une vue d'une variante de réalisation d'un support de ventouse - la
figure 2 bis représente une autre vue d'un support de ventouses - les
figures 3 à 9 représentent le cycle de pose et de dépose d'un flan.
- the
figure 1 shows a schematic view of an installation according to the present invention - the
figure 2 shows a view of an alternative embodiment of a suction cup holder - the
picture 2 bis shows another view of a suction cup support - them
figures 3 to 9 represent the cycle of placing and removing a blank.
La
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) which is the subject 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 at the upper surface of the destacker (110), at zero horizontal speed to avoid any slippage with respect to the following blank, which could cause scratches or damage. the surface condition, if it is for example varnish 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 making contact between the suction cup of the transfer unit (300) and the upper blank (111), it is customary to first apply, before any movement towards the conveyor (200), a slight angulation to facilitate separation from the next blank and compensate for the electrostatic sticking effect. For this, the transfer unit controls an angular displacement of the suction head to modify the plane of contact with respect to the plane parallel to the plane of the conveyor by a few degrees, according to an example of a solution described below.
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 zero horizontal speed to a horizontal speed 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 transferred blank to the conveyor. In the present patent, the term "horizontal" means 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 speeds, 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.
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) consisting of a loading plate (121) the bottom of which consists of a fork (122) having several teeth connected at the rear by a crosspiece ( 123). The teeth are spaced at intervals corresponding to the spacing of the belts (131) of a conveyor belt (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 stacks of blanks 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 bandes (130).The plate (121) is vertically movable 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 bands (131) of the belt conveyor (130).
Lorsque la pile de flans du dépileur (110) est complétement 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 into 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 (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).The unstacker (110) also comprises a plate (112) constituted by a crosspiece provided with teeth spaced apart to fit between the strips (131) of the belt conveyor (130). This plate (112) is movable relative to a motorized frame (113) between a low position, lower than the surface of the strips (131), where it can come into contact with the lower surface of a stack present on the conveyor strips (130), and working positions where the plate (112) is raised sequentially so that the upper blank (111) is positioned in the horizontal gripping plane by a suction cup of the transfer unit (200).
La
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 electromagnetically 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.Controlling the supply of the stator coils makes it possible to control the independent movement of each of the carriages (410, 420) constituting a moving assembly. This control makes it possible to control the speed and the amplitude of the movement of each of the carriages (410, 420), the direction of the movement, and of course the relative movement of the downstream carriage (410) of the mobile assembly with respect to the upstream carriage (420) of the same mobile assembly.
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 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 to the upstream carriage (420). The lower arm (424) and the upper arm (421) are connected by two parallel arms (422, 423) via 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) with respect to the downstream carriage (410) modifies the inclination of the tilting plate (431).
La
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 rotation of the rod is ensured by the tilting plate (431) which is articulated, on either side of the rod (460), with respect 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.
Les
La
La
La
L'étape suivante est illustrée par la
La
L'étape suivante représentée en
La
La séquence de fonctionnement est la suivante :
- SQ1 : Sortie de courbe, approche du carton
- Ralentissement de la vitesse du premier chariot / au second.
- SQ2 : Mise en contact des ventouses avec le carton
- -Ralentissement de la vitesse du premier chariot / au second
- Activation du vide.
- SQ3 : Maintien des ventouses à un point fixe tout en continuant l'avance des chariots
- Ralentissement de la vitesse du premier chariot / au second.
- SQ4 : « Décollement » du carton / à la pile
- Ralentissement de la vitesse du premier chariot / au second (toute en continuant à avancer).
- SQ5 : « Décollement » du carton / à la pile (prise de hauteur)
- -Ralentissement de la vitesse du premier chariot / au second (toute en continuant à avancer).
- SQ6 : Accélération des chariots pour synchronisation des vitesses (carton/tapis).
- SQ7 : Positionnement du carton sur le tapis machine
- - - Accélération de la vitesse du premier chariot / au second (toute en continuant à avancer)
- - - Mise au pas des cartons
- - - Coupure du vide créant la dépression d'aspiration des ventouses
- SQ8 : Dégagement et bouclage des chariots autour de la piste fermée.
- Accélération des chariots et entrée dans la courbe de retour.
- SQ1: Curve exit, cardboard approach
- Slowing down the speed of the first trolley / the second.
- SQ2: Bringing the suction cups into contact with the cardboard
- -Slowed down the speed of the first trolley / second
- Vacuum activation.
- SQ3: Maintaining the suction cups at a fixed point while continuing the advance of the carriages
- Slowing down the speed of the first trolley / the second.
- SQ4: "Detachment" of the cardboard / to the pile
- Slowing down the speed of the first trolley / the second (while continuing to move forward).
- SQ5: "Detachment" of the cardboard / to the stack (height measurement)
- -Slowing down the speed of the first trolley / the second (while continuing to move forward).
- SQ6: Acceleration of trolleys for synchronization of speeds (cardboard/belt).
- SQ7: Positioning of the cardboard on the machine belt
- - - Acceleration of the speed of the first trolley / to the second (while continuing to move forward)
- - - Setting the boxes in step
- - - Vacuum cut creating the suction depression of the suction cups
- SQ8: Clearing and looping trolleys around the closed track.
- Acceleration of the trolleys and entry into the return curve.
Claims (8)
- Apparatus for unstacking sheets stacked by a transfer unit comprising a plurality of suction cups (430), wherein said transfer unit consists of a closed-track linear motor (200) which moves a plurality of moving parts which support the suction cup (430) supports, the apparatus being characterized in that the suction cup (430) support comprises a first hinged connection which is connected to a first carriage (420) and a second hinged connection which is connected to a second carriage (410), the inclination of the contact plane of the suction cup and/or the distance relative to the engagement/removal planes being determined by the relative position of said first (420) and said second carriage (410).
- Apparatus for unstacking stacked sheets according to claim 1, characterized in that said linear motor (200) consists of a track (250) which forms a closed loop comprising a plurality of electromagnet coils that are supplied individually with power in order to create variable electromagnetic fields, and consists of a plurality of carriages (410, 420) comprising at least one permanent magnet which magnetically interacts with said electromagnet coils in order to produce relative movement between each of said carriages and said closed track, the suction cup supports being attached to said carriages.
- Apparatus for unstacking stacked sheets according to claim 1, characterized in that said linear motor (200) has a stator portion which extends above the line extending between the engagement point on a feeder (100) and the removal point on an adjacent belt conveyor (300).
- Apparatus for unstacking stacked sheets according to claim 1, characterized in that the suction cup support consists of a tilting plate (431) which is hinged with respect to the first hinged connection and with respect to the second hinged connection.
- Apparatus for unstacking stacked sheets according to claim 4, characterized in that said first hinged connection consists of a deformable parallelogram.
- Apparatus for unstacking stacked sheets according to claim 1, characterized in that the suction cups are connected by pipes to a vacuum chamber which is secured to said closed track via a region which connects the vacuum chamber via a rotary joint.
- Apparatus for unstacking stacked sheets according to claim 1, characterized in that each moving part comprises an additional carriage connected to a suction cup support carriage by a pneumatic pump.
- Apparatus for unstacking stacked sheets according to claim 1, characterized in that it comprises a feeder having a first column for loading the flat elements, which column is provided with a lower fork for receiving a stack of flat elements, a belt conveyor which is separated by a slot corresponding to the geometry of said fork, and a second column arranged under the sampling region, which column is provided with a lower fork that interlocks between the ends downstream of said belt conveyor.
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 |
Publications (2)
Publication Number | Publication Date |
---|---|
EP3844089A1 EP3844089A1 (en) | 2021-07-07 |
EP3844089B1 true EP3844089B1 (en) | 2022-06-01 |
Family
ID=65443923
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP19774139.0A Active EP3844089B1 (en) | 2018-08-28 | 2019-08-26 | Depiling apparatus |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP3844089B1 (en) |
FR (1) | FR3085364B1 (en) |
WO (1) | WO2020043984A1 (en) |
Family Cites Families (7)
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. |
DE60015072T2 (en) | 1999-07-13 | 2005-12-15 | Esatec Etudes Services Automatismes Techniques | METHOD FOR STACKING LEAVES IN AN ARC SUPPLY DEVICE |
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 |
WO2012108870A1 (en) * | 2011-02-10 | 2012-08-16 | Hewlett-Packard Development Company, L.P. | Media transport assembly |
DE102015112625A1 (en) * | 2015-07-31 | 2017-02-16 | Hanses Sägewerkstechnik GmbH & Co. KG | Method for destacking veneer sheets |
-
2018
- 2018-08-28 FR FR1857723A patent/FR3085364B1/en active Active
-
2019
- 2019-08-26 EP EP19774139.0A patent/EP3844089B1/en active Active
- 2019-08-26 WO PCT/FR2019/051962 patent/WO2020043984A1/en unknown
Also Published As
Publication number | Publication date |
---|---|
EP3844089A1 (en) | 2021-07-07 |
WO2020043984A1 (en) | 2020-03-05 |
FR3085364B1 (en) | 2020-10-02 |
FR3085364A1 (en) | 2020-03-06 |
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