FR3055825A1 - DEVICE FOR MOVING SHEET MATERIAL AND CORRESPONDING METHOD. - Google Patents

Abstract

The present invention relates to a device for moving a sheet material (7), such as a glass plate, between two positions, a substantially horizontal position and a substantially vertical position, the device comprising gripping means (1). defining a first plane (P) substantially parallel to that of the sheet material when the gripping means are in engagement with the material, these gripping means being rotatable about an axis (13) situated in a second plane parallel to the foreground and secured to a frame (2) and being also movable in vertical translation relative to the frame, and retaining means (4) gripping means attached to the gripping means at a point (42) further away the chassis and the frame at a point (20) located above the second plane, so as to cause the gripping means (1) to rotate about the axis (13) during the displacement. vertical axis relative to the chassis.

Description

© Publication number: 3,055,825 (use only for reproduction orders)

©) National registration number: 16 58614 ® FRENCH REPUBLIC

NATIONAL INSTITUTE OF INDUSTRIAL PROPERTY

COURBEVOIE © IntCI ⁸

B 25 J 1/00 (2017.01), B 25 J 15/00

A1 PATENT APPLICATION

©) Date of filing: 15.09.16. © Applicant (s): 3 DIMENSION ROBOTICS (30) Priority: Public limited company - FR. @ Inventor (s): TORCHEBOEUF BRUNO and GRYGO- ROWICZ SERGE. (43) Date of public availability of the request: 16.03.18 Bulletin 18/11. ©) List of documents cited in the report preliminary research: Refer to end of present booklet (© References to other national documents ® Holder (s): ROBOTICS 3 DIMENSIONS Company related: anonymous. ©) Extension request (s): © Agent (s): CABINET BENECH.

P4) DEVICE FOR MOVING SHEET MATERIAL AND CORRESPONDING METHOD.

FR 3 055 825 - A1 _ The present invention relates to a device for moving a sheet material (7), such as a glass plate, between two positions, a substantially horizontal position and a substantially vertical position, the device comprising gripping means (1) defining a first plane (P) substantially parallel to that of the sheet material when the gripping means are engaged with the material, these gripping means being movable in rotation about an axis (13) located in a second plane parallel to the foreground and integral with a frame (2) and also being movable in vertical translation relative to the frame, as well as retaining means (4) of the gripping means, fixed to the gripping means in a point (42) further from the chassis than the axis and to the chassis at a point (20) located above the second plane, so as to rotate the gripping means (1) around the axis (13 ) when vertically moving the axis relative to the chassis.

DEVICE FOR MOVING SHEET MATERIAL AND

CORRESPONDING PROCESS

The present invention relates to a device for moving a sheet material, such as a glass plate, between two positions: a substantially horizontal position and a substantially vertical position.

Conventionally, a sheet material must be moved from a horizontal support on which it is cut to a substantially vertical support.

This is particularly the case for glass plates.

This movement can be carried out manually by two operators who grab the glass plates on the horizontal support and load them onto vertical supports.

It can also be automated thanks to a multi-axis robotic system that can cover large areas.

However, in the context of small series, such a robotic system is not always effective because each new series involves numerous adjustments.

The object of the invention is therefore to propose a device for moving a sheet material which makes it possible to largely automate the actions to be carried out, its operation requiring only the intervention of an operator, the latter being relieved of actions requiring significant physical effort.

The invention therefore relates to a device for moving a sheet material, such as a glass plate, between two positions, a substantially horizontal position and a substantially vertical position, the device comprising gripping means defining a first plane substantially parallel to that of the sheet material when the gripping means are engaged with said material, these gripping means being movable in rotation about an axis located in a second plane parallel to the foreground and integral with a frame and also being movable in vertical translation relative to the chassis, as well as means for retaining the gripping means, fixed to said gripping means at a point farther from the chassis than said axis and to the chassis at a point situated above said second plane , so as to rotate the gripping means around said axis during the vertical movement of said axis relative to the chassis.

In advantageous embodiments, use is made of one and / or the other of the following arrangements:

- The chassis comprises at least one vertical upright, on which a carriage is mounted movable in translation, said axis of rotation being integral with said carriage;

- The chassis and the gripping means are movable in horizontal translation;

the distance between the axis of rotation and the point of attachment of the retaining means to the means of

grip is equal at least 250 mm; - the said means of restraint include a cable or flexible tape who is position relaxed when the means of grip are in position

substantially horizontal or substantially vertical and in the stretched position when the gripping means pass from one position to the other;

- The device also comprises means for locking the gripping means in the vertical position;

the length of the cable makes it possible to adjust the height at which the gripping means are rotated.

The invention also relates to a method of moving a sheet material using the device as described above.

It also relates to a method of moving a sheet material such as a glass plate, between two positions, one substantially horizontal and the other substantially vertical, the method comprising the following steps:

- grasp the sheet material located in a horizontal position with the gripping means and

- Move the gripping means in vertical translation downward to cause them to rotate about said axis of rotation until they are placed in a substantially vertical position.

Advantageously, the gripping means are moved in horizontal translation before their movement in vertical translation.

The invention will be better understood on reading the following description of embodiments given below by way of nonlimiting examples.

The description refers to the accompanying drawings in which:

Figure 1 is a side view of an exemplary embodiment of the displacement device according to the invention, the gripping means of the latter being in a substantially horizontal position.

Figure 2 is a partial side view of the device illustrated in Figure 1, the gripping means being in a substantially vertical position.

Figure 3 is a perspective view illustrating in more detail the locking means of the device, the gripping means being in a substantially horizontal position.

Figure 4 is a perspective view illustrating in more detail the locking means, the gripping means being in a substantially vertical position.

FIGS. 5A to 5D illustrate the different stages of the method according to the embodiment of the invention more particularly described here making it possible to move a sheet material from a substantially horizontal position to a substantially vertical position.

The elements common to the different figures will be identified by the same references.

Reference is first made to FIG. 1 which illustrates the displacement device according to the invention in a substantially horizontal position.

This device comprises gripping means 1 comprising a frame 10, for example a metal frame.

This frame defines a first plane P.

On its underside 11, this frame supports suction means such as gripping suction cups 12 connected to a vacuum system, in a manner known per se.

These suction cups 12 are distributed on the lower face 11 of the frame and are intended to come into contact with a sheet material such as a glass plate 7.

The first plane P defined by the frame 10 is substantially parallel to that of the sheet material 7, when the gripping means are engaged with this material.

The displacement device is mounted on a chassis 2 by means of a carriage 3, mounted movable in translation on the vertical upright 21 of the chassis.

Thus, the gripping means 1 are integral with the carriage 3 and can move with it in vertical translation.

The chassis 2 also includes a horizontal upright 22 which can move horizontally on the ground by means of wheels 23.

The gripping means are also mounted mobile in rotation relative to the carriage 3, around the axis 13. In this exemplary embodiment, this axis of rotation is located in a second plane P 'parallel to the first plane P. It could be located in the foreground P.

The device also includes retaining means 4 for gripping means 1 which essentially comprise a flexible cable or strip 40 which is fixed on the one hand, on the upper face 14 of the frame 10 and on the other hand, on the chassis 2 , at its upper end 20.

More specifically, the cable or strip 40 is connected at a distal end, to a part 41 which is mounted movable in rotation about an axis 42. This axis (projected in the plane P) is located away from the axis 13 and it is further from the chassis 2 than this axis of rotation 13.

In the example illustrated in FIG. 1, the distance between the axis 13 and the axis of the pulley 30 is 316 mm and that between the axis 13 and the axis 42 is

270 mm.

Furthermore, in this embodiment, the axis 42 is located above the upper face 14 of the frame 10, but the invention is not limited to this embodiment.

At its proximal end, the cable or strip 40 is fixed to the upper part 20 of the chassis 2, and therefore at a point situated above the first and / or the second plane.

FIG. 1 shows that a pulley 30 is provided integral with the carriage 3 for guiding the cable or the flexible strip 40.

In the embodiment illustrated in FIG. 1, the device comprises locking means 5 which will also be described with reference to FIG. 3.

These locking means comprise a link 50 which is rotatably mounted about a first axis 51, situated in a plane parallel to the first plane P and to the second plane P 'and near the distal end 15 of the frame 10.

At its other end, the link 50 is mounted for rotation about a second axis 52 common to a crankshaft 53.

At its other end, the crankshaft is mounted to rotate about an axis 54 which is also common with that of the two flywheels 55.

Figures 1 and 3 show that, when the gripping means are in a substantially horizontal position, the crankshaft 53 is supported on stops 56 (for example adjustable in height), integral with the chassis 3 which limit the downward movement of the second axis 52 (counterclockwise).

Reference is now made to Figures 2 and 4 which illustrate the device according to the invention when the gripping means 1 are in a substantially vertical position.

The passage between the substantially horizontal position illustrated in Figures 1 and 3 and the substantially vertical position illustrated in Figures 2 and 4 is obtained by a vertical translational movement down the carriage 3 on the vertical upright 21 of the chassis.

Indeed, thanks to the retaining means 40, the vertical downward movement of the carriage 3 and therefore

ways to grip 1 causes the rotation of these latter around Axis 13, in a meaning schedule. Ways restraint 4 rotate in the meaning counterclockwise, around 1 ' rotation axis 42, by

through part 41, when passing from one position to another.

Indeed, the downward movement of the carriage 3 and the gripping means 1 creates a tension on the retaining means 4, this tension generating a torque causing the gripping means 1 to rotate about the axis 13.

To this end, the cable 40 may in particular consist of a cord reinforced with synthetic fibers, in particular Kevlar®, and having a high resistance to breakage.

During the rotational movement of the gripping means 1 clockwise, the crankshaft 53 is rotated, also clockwise around the axis 54 common with the flywheels

55.

In the substantially vertical position of the gripping means illustrated in FIGS. 2 and 4, corresponding to an inclination of -5 ° relative to the vertical, the link 50 and the crankshaft 53 are almost aligned like the three axes of rotation 42, 52 and 54.

This position is stabilized by means of the stop 57 which blocks the rotation movement of the crankshaft 53 clockwise.

The gripping means 1 are thus locked in the substantially vertical position provided by the locking means.

This makes it possible to move the carriage 3 and the gripping means 1 in vertical translation, this time upwards, without the risk of tilting in the counterclockwise direction.

The unlocking of the gripping means 1 in the vertical position is achieved by manually operating the handwheels 55 counterclockwise.

The method of moving a sheet material according to the invention will now be described with reference to Figures 5A to 5C which are schematic side views of the moving device according to the invention.

FIG. 5A shows a cutting table 6 comprising a substantially planar upper face 60, on which is deposited a glass plate 7 which has been previously cut.

The vertical upright of the chassis 2 is positioned close to the cutting table 6 and the carriage 3 is adjusted so that the gripping means 1 are located above the plate 7.

The suction means 12 are then actuated so that the gripping means 1 grip the plate 7.

FIG. 5B illustrates the next step, in which the frame is moved in horizontal translation so as to move it away from the cutting table 6, at a distance such that the glass plate is no longer facing the table. cutting 6. This horizontal translation operation can be carried out manually by an operator who rolls the chassis using the wheels 23.

Once this backward movement has been made, the carriage 3 is controlled to start its downward vertical translation movement.

FIG. 5C illustrates the rotational movement of the gripping means 1 around the axis 13 in a clockwise direction.

As explained above, this rotational movement is generated by the torque created by the tension on the retaining means 4, due to the movement of the carriage 3 downwards.

Finally, FIG. 5D illustrates the gripping means 1 and the plate 7 in a substantially vertical position, the carriage 3 having stopped its movement of vertical translation downwards.

The length of the retaining means 4 makes it possible to adjust the height with respect to the ground (or to the horizontal upright 22 of the chassis) of the gripping means at which these means begin their rotational movement. This allows the device to be adapted to the height of the cutting table with which it is used.

Furthermore, the locking means 5 make it possible to lock the gripping means in a substantially vertical position. Therefore, once reached the position illustrated in Figure 5D, the carriage 3 can be moved in vertical translation upward without changing the inclination of the plate

7.

As explained above, it is by acting on the flywheels 55 that the gripping means 1 can then leave this substantially vertical position.

It can be noted that the locking means could also consist of a simple latch, actuated by the user.

By substantially horizontal position, we understand a position that can be tilted between -10 ° and 20 ° relative to the horizontal.

By substantially vertical position is understood a position which can be inclined between -10 ° and 0 ° relative to the vertical.

As is obvious and as also follows from the above, the present invention is not limited to the embodiments more particularly described. On the contrary, it embraces all the variants thereof and in particular those where the gripping means are not suction cups but retractable hooks for gripping the edge of the plate.

Claims (9)

1. Device for moving a sheet material (7), such as a glass plate, between two positions, a substantially horizontal position and a substantially vertical position, the device comprising gripping means (1) defining a first plane (P) substantially parallel to that of the sheet material when the gripping means are engaged with said material, these gripping means being mobile in rotation about an axis (13) located in a second plane parallel to the foreground and integral with a chassis (2) and also being movable in vertical translation relative to the chassis, as well as retaining means (4) of the gripping means, fixed to said gripping means at a point (42) further from the chassis than said axis and to the chassis at a point (20) located above said second plane, so as to rotate the gripping means (1) around said axis (13) during the vertical movement of said axis relative to the chassis. 2. Device according to claim 1, characterized in that the chassis comprises at least one vertical upright (21), on which a carriage (3) is mounted movable in translation, said axis of rotation (13) being integral with said carriage (3 ). 3. Device according to claim 1 or 2, characterized in that the frame (2) and the gripping means (1) are movable in horizontal translation. 4. Device according to any one of claims 1 to 3, characterized in that the distance between the axis of rotation (13) and the point of attachment (42) of the retaining means on the gripping means is equal to at minus 250 mm. 5. Device according to any one of claims 1 to 4, characterized in that said retaining means (4) comprise a flexible cable or strip (40) which is in the relaxed position when the gripping means (1) are in position substantially horizontal or substantially vertical and in the stretched position when the gripping means (1) pass from one position to the other. 6. Device according to one of claims 1 to 5, characterized in that it also comprises locking means (5) gripping means in the vertical position. 7. Device according to one of claims 5 or 6, characterized in that the length of the cable makes it possible to adjust the height at which the gripping means are rotated. 8. A method of moving a sheet material, such as a glass plate, between two positions, one substantially horizontal and the other substantially vertical using a device according to one of claims 1 in 7, the method comprising the following steps: - grasp the sheet material (7) located in a horizontal position with the gripping means (1) and move the gripping means (1) in vertical translation downward to drive them in rotation about said axis of rotation (13) until 'to place them in a substantially vertical position. 9. Method according to claim 8, characterized in that the gripping means (1) are moved 5 in horizontal translation before their displacement in vertical translation. 1/5 2/5 3/5 4/5