EP1144290B1 - Verfahren zum abstapeln von blättern in einer bogenzuführvorrichtung - Google Patents

Verfahren zum abstapeln von blättern in einer bogenzuführvorrichtung Download PDF

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Publication number
EP1144290B1
EP1144290B1 EP00935255A EP00935255A EP1144290B1 EP 1144290 B1 EP1144290 B1 EP 1144290B1 EP 00935255 A EP00935255 A EP 00935255A EP 00935255 A EP00935255 A EP 00935255A EP 1144290 B1 EP1144290 B1 EP 1144290B1
Authority
EP
European Patent Office
Prior art keywords
suction cup
upper sheet
rotating plate
speed
driven
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.)
Expired - Lifetime
Application number
EP00935255A
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English (en)
French (fr)
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EP1144290A2 (de
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
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Etudes Services Automatismes Techniques SA ESATEC
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Publication date
Priority claimed from FR9909115A external-priority patent/FR2793783A1/fr
Application filed by Etudes Services Automatismes Techniques SA ESATEC filed Critical Etudes Services Automatismes Techniques SA ESATEC
Publication of EP1144290A2 publication Critical patent/EP1144290A2/de
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Publication of EP1144290B1 publication Critical patent/EP1144290B1/de
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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
    • 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
    • B65H3/42—Separating articles from piles by two or more separators mounted for movement with, or relative to, rotary or oscillating bodies
    • 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
    • B65H2406/345—Rotary suction grippers
    • B65H2406/3454—Rotary suction grippers performing oscillating movement during rotation
    • 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
    • B65H2555/20—Actuating means angular
    • B65H2555/24—Servomotors

Definitions

  • the present invention relates to the field of unstacking of sheets stacked in a feeder, in particular semi-rigid PVC sheets stacked in a feeder.
  • destackers comprising a drive mechanism of a suction cup which is alternately approached, brought into contact then pushed aside from the stack of sheets.
  • the suction cup is plated on the top sheet of the stack, and then drives the top sheet to move it away from the stack before file on another work area, for example on a cutout transported by a vacuum conveyor.
  • Patents GB-A-1,161,054 and US-A-5,254,071 describe a destacker operating on this principle.
  • the object of the present invention is to improve the unstacking of semi-rigid sheets, in particular of sheets of PVC, stacked in a charger.
  • the purpose of the invention is to avoid the disadvantage of bonding two consecutive sheets causing a sample of two sheets simultaneously, or causing the incorrect position from the consecutive sheet to the top sheet which comes to be taken.
  • the invention relates, in its most generally accepted, a process for unstacking sheets stacked in a feeder, comprising a step of approximation of a suction cup to the surface of the sheet top of the stack, said suction cup being mounted on a suction cup support integral with a plate rotary, a step of bringing the suction cup with the surface of said top sheet, the suction cup being applied in an off-center area of the top sheet, and a step of removing the suction cup after gripping the upper sheet, characterized in that the rotary table has a constant speed of rotation, and the suction cup support with a speed varying between 0 and a higher speed at the speed of said turntable, and in that said suction cup is inclined, at the start: of the step of distance, so as to cause a deformation of the upper sheet producing lateral take-off prior to total takeoff of the upper sheet, carried out by said suction cup.
  • the suction cup is inclined by tilting with respect to the lateral zone of the suction cup the closer to the center of the top sheet.
  • the suction cup is approached from the top sheet according to a first substantially tangential curved trajectory with the normal to the top sheet, and in that the suction cup is distant, after contact with the top sheet, according to a curve substantially symmetrical to the first curve, with respect to a plane perpendicular to the surface of the new top sheet of the stack.
  • the suction cup is inclined, during the removal step, along a trajectory initial corresponding substantially to the end of the first curve.
  • the invention also relates to equipment for unstacking of stacked sheets having a turntable causing at least one suction cup support supporting a suction cup.
  • the suction cup support being formed by an arm articulated movable relative to a pivot axis extending perpendicular to a peripheral area of the plateau rotary, characterized by that the articulated arm is guided by a connecting rod guide, one end of which is guided in translation by a ball bushing supported by the axis of rotation of turntable, the other end of which is connected to the arm articulated by a pivot, and in that the suction cup support is driven by a motor independent of the drive motor of the turntable supporting the suction cup support, the suction cup support having a speed varying between 0 and a speed greater than the speed of said turntable.
  • the articulated arm is formed by a rear segment and an outer segment articulated by a pivot.
  • the rear segment of the support suction cup is driven by said independent motor.
  • said motor independent is controlled by a computer receiving a signal from a sensor detecting the passage of the edge of the sheet supported by the suction cup.
  • the guide rod is connected to the outer segment of the arm articulated by an offset pivot laterally.
  • Figure 1 shows the trajectory of the suction cup during the approach and distance stages of the suction cup.
  • the suction cup is approached according to a curved path (1) which joins the upper sheet (2) tangentially with the normal to the surface of the top sheet (2).
  • the contact between the suction cup (4) and the top sheet (2) takes place in an area offset by relative to the center of the top sheet (2).
  • the trajectory represented corresponds to the displacement of the center of the suction area of the suction cup. It is determined by the combination of a rotation movement of the main plate (10) and the oscillating tilting movement of the support suction cup with respect to the pivot (12).
  • the suction cup When contacting the suction cup with the sheet, the suction cup is tilted so so that it 'lands' substantially tangentially on the surface of the top sheet, to then be tilted to lift the smallest side of the sheet is takes off from one of the side edges (7), before cause the top sheet to move away from the surface of the adjacent sheet.
  • the removal takes place then along a second curved trajectory (5) substantially symmetrical about a plane perpendicular to the surface of the sheet (2).
  • the suction cup is tilted so that the plane of contact with the surface of the sheet forms a dihedral and the edge (7) located on the side of the contact between the suction cup (4) and the sheet (2) comes off first. This lateral takeoff causes the introduction progressive air between the upper sheet (2) and the next sheet. This avoids the removal of two leaves remaining stuck, or the inappropriate movement of the bottom sheet.
  • FIG 2 shows a schematic view of a equipment according to the invention. It has a turntable (10) rotating at a constant speed.
  • This main board (10) supports in the example described three supports for suction cups, only one of which is shown in Figure 2.
  • Each suction cup support is formed by an articulated arm (11) secured to the turntable (10) via a pivot (12).
  • This pivot (12) extends perpendicular to the tray (10), and is fixed near the edge of said tray.
  • the articulated arm has two segments (30, 31) connected by a pivot (32) parallel to the pivot (12).
  • the outer segment (31) of the articulated arm (11) supports the suction cup (4), at the end opposite the pivot (12).
  • a satellite pinion (13) drives the rotation of the articulated arm (11) by means of a toothed crown (14).
  • the pinion (13) is driven by a motorized secondary crown (25) actuated by an independent motor, controlled by a computer.
  • the angular position of the secondary crown (25) is controlled by a computer also receiving information from sensors optoelectronics detecting possible drifts in the position of the sheet relative to the nominal position.
  • the tilting of the articulated arm (11) is guided by a guide rod (15) one end of which (16) is guided in translation by a ball bushing (17) integral with the axis (18) coaxial with the axis of the plate (10).
  • the other extremity of the connecting rod (15) is connected to the outer segment (31) of the articulated arm (11) via an offset pivot (20) laterally with respect to the outer segment (31) of the arm suction cup holder.
  • Figure 3 shows schematically the kinematics of the device according to the invention.
  • the suction cup height is about 50 mm from the bottom edge of the PVC sheet by relative to the direction of rotation. This promotes precision assembly when removing the PVC sheet on the cardboard cutout, the PVC being kept at the front of the direction of feeding.
  • the trajectory of the suction cup When taken, the trajectory of the suction cup has a role determining the speed and precision of unstacking windows in the store.
  • the suction cup must come and take the window by a point of contact without sliding. That much precise grip, the suction cup is at normal window.
  • This phase corresponds to the transfer of the window, from pick up to drop off, by the shortest route. Orientation of the suction cup towards a uniform trajectory circular as soon as possible, allows the reading of the window per cell, for electronic correction of the product before removal.
  • Speed describes a uniform trajectory circular.
  • FIGS. 4 to 9 show the device to different stages of a cycle. Only one suction cup holder is shown to simplify the figures.
  • the device When the feeder sheet is taken up, the device occupies the position shown in FIG. 4.
  • the articulated arm (11) is oriented radially, the two segments (30) and (31) being aligned.
  • the suction cup (4) is in the extension of the articulated arm (11), in maximum extension.
  • the bearing surface of the suction cup is in a plane substantially normal to the articulated arm (11), and therefore parallel to the sheet to be taken.
  • the main crown is driven at a constant speed V p throughout the cycle.
  • the secondary crown (25) is stopped.
  • the rotation of the plate (10) causes the tilting of the suction cup holder as shown in figure 5.
  • the segment rear (30) swings in the opposite direction to the direction of rotation of the plate (10).
  • the outer segment (31) switches into the same direction as the plate (10) under the effect of guidance by the guide rod (15). This movement of the articulated arm (11) causes the suction cup to move towards the center of the tray, and the tilting of the suction surface of the suction cup, causing the sheet to form the dihedral previously described.
  • the secondary crown (25) is driven at a speed of rotation V c greater than the speed V p of the main plate.
  • the articulated arm (11) then resumes a rectilinear configuration and the suction cup (4) is transferred to the external position.
  • a sensor (35) detects the passage of the edge of the sheet (36) and transmits time information to the computer which controls the speed of rotation of the secondary crown (25). In the event of an offset from a setpoint, the speed of rotation and increased or decreased to ensure the correct positioning of the sheet at the time of removal on the blank driven by a conveyor belt.
  • the plate (10) and the secondary crown (25) are driven at identical speeds, in synchronization with the running speed of the blank on which the sheet (36) is deposited, as shown in figure 8.
  • the crown (25) is at new drive to move the suction cup in the external direction, according to a movement illustrated in figure 1.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Sheets, Magazines, And Separation Thereof (AREA)
  • Auxiliary Devices For And Details Of Packaging Control (AREA)

Claims (10)

  1. Verfahren zum Entstapeln von Blättern, die in einer Ladevorrichtung gestapelt sind, bestehend aus: einer Etappe der Annäherung eines Saugfuß (4) an die Oberfläche des oberen Blattes (2) vom Stapel (3), wobei der besagte Saugfuß (4) auf einem Saugfußträger (11) montiert ist, der solidarisch mit einer Drehplatte (10) ist, einer Etappe der Berührungsaufnahme des Saugfuß (4) mit der Oberfläche vom besagten oberen Blatt (2), wobei der Saugfuß (4) an eine dezentrierte Zone vom oberen Blatt (2) angelegt wird, und einer Etappe der Entfernung des Saugfuß (4) nach dem Ergreifen des oberen Blattes (2), dadurch gekennzeichnet dass die Drehplatte (10) durch eine konstante Drehgeschwindigkeit (Vp) animiert ist, und dass der Saugfußträger durch eine Geschwindigkeit (Vc) animiert ist, die zwischen 0 und einer Geschwindigkeit (Vc) variiert, die über der Geschwindigkeit (Vp) der besagten Drehplatte (10) liegt, und dadurch gekennzeichnet, dass der besagte Saugfuß (4) zu Beginn der Etappe der Entfernung schräg ist, um somit eine Deformation des oberen Blattes (2) hervorzurufen, die ein seitliches Abheben vor dem gesamten Abheben des oberen Blattes (2) bewirkt, das vom besagten Saugfuß (4) ausgeführt wird.
  2. Verfahren zum Entstapeln von gestapelten Blättern nach Anspruch 1, dadurch gekennzeichnet, das es aus folgendem besteht: eine Etappe der Annäherung des Saugfuß (4) an die Oberfläche des oberen Blattes (2) vom Stapel (3), wobei die Drehplatte (10) durch eine konstante Drehgeschwindigkeit (Vp) animiert wird, eine Etappe der Berührungsaufnahme des Saugfuß (4) mit der Oberfläche des oberen Blattes (2) vom Stapel (3), wobei die Drehplatte (10) durch eine konstante Drehgeschwindigkeit (Vp) animiert wird, während der Saugfußträger angehalten ist, eine Etappe der Entfernung des Saugfuß (4) nach dem Ergreifen des oberen Blattes (2), wobei die Drehplatte (10) durch eine konstante Drehgeschwindigkeit (Vp) animiert wird und der Saugfußträger durch eine Geschwindigkeit (Vc) animiert wird, die erst größer als die Geschwindigkeit (Vp) der besagten Drehplatte (10) ist und dann dieser entspricht, eine Etappe der Ablage des besagten Blattes, wobei die Geschwindigkeit der Platte (10) und des Saugfußträgers mit identischen Geschwindigkeiten angetrieben werden.
  3. Verfahren zum Entstapeln von gestapelten Blättern nach Anspruch 1 oder Anspruch 2, dadurch gekennzeichnet, dass der Saugfuß durch Kippen schräg im Verhältnis zur seitlichen Zone des Saugfuß (4) ist, der dem Zentrum des oberen Blattes (2) am nächsten ist.
  4. Verfahren zum Entstapeln von gestapelten Blättern nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass der Saugfuß (4) an das obere Blatt (2) angenähert wird, und dies gemäß einer ersten krummen Trajektorie (1), die leicht tangential mit der Normalen des oberen Blattes (2) ist, und dass nach Berührung mit dem oberen Blatt (2) der Saugfuß (4) entfernt wird, und dies gemäß einer Kurve (5), die leicht symmetrisch mit der ersten Kurve (1) ist, und zwar im Verhältnis zu einer senkrechten Fläche zur Oberfläche des neuen oberen Blattes vom Stapel.
  5. Verfahren zum Entstapeln von gestapelten Blättern nach Anspruch 4, dadurch gekennzeichnet, dass der Saugfuß (4) während der Etappe der Entfernung schräg ist, und dies gemäß einer anfänglichen Trajektorie, die leicht dem Ende der ersten Kurve (1) entspricht.
  6. Anlage für das Entstapeln von gestapelten Blättern bestehend aus einer Drehplatte (10), die mindestens einen Saugfußträger antreibt, der einen Saugfuß (4) trägt, dadurch gekennzeichnet, dass der Saugfußträger durch einen Gelenkarm (11) gebildet wird, der mobil im Verhältnis zu einer Drehachse (12) ist, die sich im rechten Winkel zu einer peripheren Zone der Drehplatte (10) erstreckt, wobei der Gelenkarm (11) von einer Führungsstange (15) geführt wird, von der das eine der Enden (16) translatorisch durch eine Kugellaufbuchse (17) geführt wird, die von der Drehachse (18) der Drehplatte getragen wird, und von der das andere Ende mit einem Stift (20) am Gelenkarm (11) verbunden ist, und dadurch gekennzeichnet, dass der Saugfußträger von einem Motor angetrieben wird, der unabhängig vom Antriebsmotor der Drehplatte (10), die den Saugfußträger trägt, ist, wobei der Saugfußträger durch eine Geschwindigkeit (Vc) animiert wird, die zwischen 0 und einer Geschwindigkeit (Vc) variiert, die über der Geschwindigkeit (Vp) der besagten Drehplatte (10) ist.
  7. Anlage für das Entstapeln von gestapelten Blättern nach Anspruch 6, dadurch gekennzeichnet dass der Gelenkarm (11) aus einem hinteren Segment (30) und einem äußeren Segment (31) gebildet wird, die durch einem Stift (32) beweglich verbunden sind.
  8. Anlage für das Entstapeln von gestapelten Blättern nach Anspruch 7, dadurch gekennzeichnet dass der hintere Segment (30) des Saugfußträgers von dem besagten unabhängigen Motor angetrieben wird.
  9. Anlage für das Entstapeln von gestapelten Blättern nach Anspruch 8, dadurch gekennzeichnet dass der besagte unabhängige Motor von einem Rechner gesteuert wird, der ein Signal empfängt, das von einem Sensor (35) stammt, der den Durchlauf des Blattes ausmacht, das vom Sauger (4) getragen wird.
  10. Anlage für das Entstapeln von gestapelten Blättern nach mindestens einem der Ansprüche 6 bis 9, dadurch gekennzeichnet dass die Führungsstange (15) durch einen seitlich verschobenen Stift (20) mit dem äußeren Segment (31) vom Gelenkarm (11) verbunden ist.
EP00935255A 1999-07-13 2000-05-24 Verfahren zum abstapeln von blättern in einer bogenzuführvorrichtung Expired - Lifetime EP1144290B1 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR9909115A FR2793783A1 (fr) 1999-05-20 1999-07-13 Procede de depilage de feuilles empilees dans un chargeur
FR9909115 1999-07-13
PCT/FR2000/001411 WO2001004033A2 (fr) 1999-07-13 2000-05-24 Procede de depilage de feuilles empilees dans un chargeur

Publications (2)

Publication Number Publication Date
EP1144290A2 EP1144290A2 (de) 2001-10-17
EP1144290B1 true EP1144290B1 (de) 2004-10-20

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EP00935255A Expired - Lifetime EP1144290B1 (de) 1999-07-13 2000-05-24 Verfahren zum abstapeln von blättern in einer bogenzuführvorrichtung

Country Status (7)

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US (1) US6431539B2 (de)
EP (1) EP1144290B1 (de)
AT (1) ATE280118T1 (de)
CA (1) CA2342741C (de)
DE (1) DE60015072T2 (de)
ES (1) ES2231208T3 (de)
WO (1) WO2001004033A2 (de)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6969060B2 (en) * 2002-12-16 2005-11-29 Creo Inc. Sheet removal and conveying system
EP2151405B1 (de) * 2008-08-08 2012-06-27 Müller Martini Holding AG Vorrichtung zum Beschicken einer Verarbeitungsstrecke mit Druckprodukten
FR3085364B1 (fr) 2018-08-28 2020-10-02 Esatec Etudes Services Automatismes Techniques Equipement pour le depilage

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5254071A (en) * 1990-07-20 1993-10-19 Societe Anonyme Etudes Services Automatismes Techniques Esatec Rotary feeder for the accurate placing of sheet elements on flat supports

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB763916A (en) * 1954-03-01 1956-12-19 Package Machinery Co A machine for feeding sheet blanks to box or carton forming machines
ES329892A1 (es) * 1966-02-25 1967-06-01 Mead Corp Un mecanismo alimentador.
US3937457A (en) * 1974-05-14 1976-02-10 Mabeg Maschinenbau Gmbh Sheet feeder apparatus
GB2185652B (en) * 1984-01-13 1988-06-29 Ricoh Kk Image recording method
EP0381382A3 (de) * 1989-01-30 1991-02-06 Brother Kogyo Kabushiki Kaisha Vorrichtung zum Zuführen von Bögen mit Anlage zum Vermeiden von Staub und Verfahren zum Reinigen der Bogenzuführvorrichtung
JPH03238244A (ja) * 1990-02-15 1991-10-24 Matsushita Electric Works Ltd 板材の分離供給装置
JPH05246565A (ja) * 1992-03-09 1993-09-24 Nec Kansai Ltd シート切出搬送装置
DE19522741C2 (de) * 1995-06-22 1997-07-17 Kodak Ag Vorrichtung zum Abnehmen eines Blattes von einem Stapel

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5254071A (en) * 1990-07-20 1993-10-19 Societe Anonyme Etudes Services Automatismes Techniques Esatec Rotary feeder for the accurate placing of sheet elements on flat supports

Also Published As

Publication number Publication date
DE60015072T2 (de) 2005-12-15
US20010026041A1 (en) 2001-10-04
CA2342741C (fr) 2008-12-30
WO2001004033A3 (fr) 2001-07-26
ES2231208T3 (es) 2005-05-16
WO2001004033A2 (fr) 2001-01-18
US6431539B2 (en) 2002-08-13
DE60015072D1 (de) 2004-11-25
ATE280118T1 (de) 2004-11-15
EP1144290A2 (de) 2001-10-17
CA2342741A1 (fr) 2001-01-18

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