EP1144290B1 - Method for unstacking sheets stacked in a feeder - Google Patents

Method for unstacking sheets stacked in a feeder 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
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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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German (de)
French (fr)
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EP1144290A2 (en
Inventor
Francis Laroche
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Etudes Services Automatismes Techniques SA ESATEC
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Etudes Services Automatismes Techniques SA ESATEC
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Priority claimed from FR9909115A external-priority patent/FR2793783A1/en
Application filed by Etudes Services Automatismes Techniques SA ESATEC filed Critical Etudes Services Automatismes Techniques SA ESATEC
Publication of EP1144290A2 publication Critical patent/EP1144290A2/en
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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)

Abstract

The invention concerns a method for unstacking sheets stacked in a feeder, comprising a step which consists in bringing a vacuum cup close to the surface of the sheet at the top of the stack; a step which consists in contacting the vacuum cup with the surface of said top sheet and a step in bringing the vacuum cup away after seizing the top sheet. The invention is characterized in that the vacuum cup is applied in an off-center zone of the top sheet, and said vacuum cup is inclined, when it starts to move away, so as to cause the top sheet to be deformed thereby producing a separation prior to complete separation of the top sheet.

Description

La présente invention concerne le domaine du dépilage de feuilles empilées dans un chargeur, en particulier de feuilles semi-rigides en PVC empilées dans un chargeur.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.

On connaít dans l'état de la technique des dépileurs comportant un mécanisme d'entraínement 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 entraíne ensuite la feuille supérieure pour l'éloigner de la pile avant de la déposer sur une autre zone de travail, par exemple sur une découpe transportée par un convoyeur à dépression.We know in the state of the art of 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.

Les brevets GB-A-1 161 054 et US-A-5 254 071 décrivent un dépileur fonctionnant selon ce principe.Patents GB-A-1,161,054 and US-A-5,254,071 describe a destacker operating on this principle.

Un tel dispositif n'est pas totalement satisfaisant. La cinématique de la ventouse produit un décollage initial d'une zone centrale de la feuille supérieure, qui se bombe légèrement, avant le décollage complet. Ce bombage provient du phénomène de collage des feuilles superposées, résultant notamment des forces électrostatiques se formant entre deux feuilles de matériaux isolants tels que du PVC. Le dépilage ne s'effectue pas de façon correcte et peut provoquer des dysfonctionnements du dépileur.Such a device is not totally satisfactory. The kinematics of the suction cup produces a initial takeoff from a central area of the sheet upper, which bulges slightly, before takeoff full. This bending comes from the bonding phenomenon of overlapping sheets, resulting in particular from forces electrostatic forming between two sheets of material insulators such as PVC. Unstacking is not performed correctly and may cause malfunctions of the unstacking.

L'objet de la présente invention est d'améliorer le dépilage de feuilles semi-rigides, en particulier de feuilles de PVC, empilées dans un chargeur. En particulier, le but de l'invention est d'éviter l'inconvénient du collage de deux feuilles consécutives provoquant un prélèvement de deux feuilles simultanément, ou provoquant la position incorrecte de la feuille consécutive à la feuille supérieure qui vient d'être prélevée.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. In particular, 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.

A cet effet, l'invention concerne, dans son acception la plus générale, un procédé pour le dépilage de feuilles empilées dans un chargeur, comportant une étape de rapprochement d'une ventouse de la surface de la feuille supérieure de la pile, ladite ventouse étant montée sur un support de ventouse solidaire d'un plateau rotatif, une étape de mise en contact de la ventouse avec la surface de ladite feuille supérieure, la ventouse étant appliquée en une zone décentrée de la feuille supérieure, et une étape d'éloignement de la ventouse après préhension de la feuille supérieure, caractérisé en ce que le plateau rotatif est animé d'une vitesse de rotation constante, et le support de la ventouse animé d'une vitesse variant entre 0 et une vitesse supérieure à la vitesse dudit plateau rotatif, et en ce que ladite ventouse est inclinée, au début: de l'étape d'éloignement, de façon à provoquer une déformation de la feuille supérieure produisant un décollage latéral préalablement au décollage total de la feuille supérieure, effectuée par ladite ventouse.To this end, 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.

Avantageusement, la ventouse est inclinée par basculement par rapport à la zone latérale de la ventouse la plus proche du centre de la feuille supérieure.Advantageously, 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.

Selon un mode de mise en oeuvre préféré, la ventouse est approchée de la feuille supérieure selon une première trajectoire courbe sensiblement tangentielle avec la normale à la feuille supérieure, et en ce que la ventouse est éloignée, après contact avec la feuille supérieure, selon une courbe sensiblement symétrique à la première courbe, par rapport à un plan perpendiculaire à la surface de la nouvelle feuille supérieure de la pile.According to a preferred embodiment, 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.

Selon une variante particulière, la ventouse est inclinée, pendant l'étape d'éloignement, selon une trajectoire initiale correspondant sensiblement à la fin de la première courbe.According to a particular variant, the suction cup is inclined, during the removal step, along a trajectory initial corresponding substantially to the end of the first curve.

L'invention concerne également un équipement pour le dépilage de feuilles empilées comportant un plateau rotatif entraínant au moins un support de ventouse supportant une ventouse. Le support de ventouse étant formé par un bras articulé mobile par rapport à un axe de pivotement s'étendant perpendiculairement à une zone périphérique du plateau rotatif, caractérisé en ce que le bras articulé est guidé par une bielle de guidage dont l'une des extrémités est guidée en translation par une douille à bille supportée par l'axe de rotation de plateau rotatif, et dont l'autre extrémité est reliée au bras articulé par un pivot, et en ce que le support de ventouse est entraíné par un moteur indépendant du moteur d'entraínement du plateau rotatif supportant le support de ventouse, le support de la ventouse étant animé d'une vitesse variant entre 0 et une vitesse supérieure à la vitesse dudit plateau rotatif.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.

Avantageusement, le bras articulé est formé par un segment arrière et un segment extérieur articulés par un pivot.Advantageously, the articulated arm is formed by a rear segment and an outer segment articulated by a pivot.

De préférence, le segment arrière du support de ventouse est entraíné par ledit moteur indépendant.Preferably, the rear segment of the support suction cup is driven by said independent motor.

Selon une variante avantageuse, ledit moteur indépendant est commandé par un calculateur recevant un signal provenant d'un capteur détectant le passage du bord de la feuille supportée par la ventouse.According to an advantageous variant, 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.

De préférence, la bielle de guidage est reliée au segment extérieur du bras articulé par un pivot décalé latéralement.Preferably, the guide rod is connected to the outer segment of the arm articulated by an offset pivot laterally.

L'invention sera mieux comprise à la lecture de la description qui suit, se référant aux dessins annexés où :

  • la figure 1 représente une vue schématique de la cinématique de la ventouse d'un équipement selon l'invention ;
  • la figure 2 représente une vue schématique d'un équipement selon l'invention ;
  • la figure 3 représente une vue schématique du mouvement du support de ventouse ;
  • les figures 4 à 9 représentent le dispositif à différents stades d'un cycle.
    • The invention will be better understood on reading the description which follows, referring to the accompanying drawings in which:
  • FIG. 1 represents a schematic view of the kinematics of the suction cup of an item of equipment according to the invention;
  • Figure 2 shows a schematic view of equipment according to the invention;
  • FIG. 3 represents a schematic view of the movement of the suction cup support;
  • Figures 4 to 9 show the device at different stages of a cycle.

    • La figure 1 représente la trajectoire de la ventouse pendant les étapes d'approche et d'éloignement de la ventouse. L'approche de la ventouse s'effectue selon une trajectoire courbe (1) qui rejoint la feuille supérieure (2) de façon tangentielle avec la normale à la surface de la feuille supérieure (2). Le contact entre la ventouse (4) et la feuille supérieure (2) s'effectue en une zone décalée par rapport au centre de la feuille supérieure (2). La trajectoire représentée correspond au déplacement du centre de la zone d'aspiration de la ventouse. Elle est déterminée par la combinaison d'un mouvement de rotation du plateau principal (10) et du mouvement de basculement oscillant du support de ventouse par rapport au pivot (12). Lors du contact de la ventouse avec la feuille, la ventouse est inclinée de telle sorte qu'elle 'atterrisse' de façon sensiblement tangentielle sur la surface de la feuille supérieure, pour être ensuite basculée pour soulever le coté le plus petit de la feuille est assurée le décollage de l'un des bords latéraux (7), avant de provoquer l'écartement de la feuille supérieure par rapport à la surface de la feuille adjacente. L'éloignement s'effectue ensuite selon une deuxième trajectoire courbe (5) sensiblement symétrique par rapport à un plan perpendiculaire à la surface de la feuille (2). La ventouse est inclinée de telle sorte que le plan de contact avec la surface de la feuille forme un dièdre et que le bord (7) disposé du côté de la zone de contact entre la ventouse (4) et la feuille (2) se décolle en premier. Ce décollage latéral provoque l'introduction progressive d'air entre la feuille supérieure (2) et la feuille suivante. On évite ainsi le prélèvement de deux feuilles restant collées, ou le déplacement inopportun de la feuille inférieure.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). 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.

    La figure 2 représente une vue schématique d'un équipement selon l'invention. Il comporte un plateau rotatif (10) tournant à une vitesse constante. Ce plateau principal (10) supporte dans l'exemple décrit trois supports de ventouses, dont un seul est représenté sur la figure 2. Chaque support de ventouse est formé par un bras articulé (11) solidaire du plateau rotatif (10) par l'intermédiaire d'un pivot (12). Ce pivot (12) s'étend perpendiculairement au plateau (10), et est fixé à proximité du bord dudit plateau. Le bras articulé présente deux segments (30, 31) reliés par un pivot (32) parallèle au pivot (12). Le segment extérieur (31) du bras articulé (11) supporte la ventouse (4), à l'extrémité opposée au pivot (12). Un pignon satellite (13) entraíne la rotation du bras articulé (11) par l'intermédiaire d'une couronne dentée (14). Le pignon (13) est entraíné par une couronne secondaire motorisée (25) actionnée par un moteur indépendant, commandé par un calculateur. La position angulaire de la couronne secondaire (25) est contrôlée par un calculateur recevant par ailleurs des informations provenant de capteurs optoélectronique détectant d'éventuelles dérives de la position de la feuille par rapport à la position nominale.Figure 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.

    Le basculement du bras articulé (11) est guidé par une bielle de guidage (15) dont l'une des extrémités (16) est guidée en translation par une douille à bille (17) solidaire de l'axe (18) coaxial avec l'axe du plateau (10). L'autre extrémité de la bielle (15) est reliée au segment extérieur (31) du bras articulée (11) par l'intermédiaire d'un pivot (20) décalé latéralement par rapport au segment extérieur (31) du bras porte-ventouse.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.

    La figure 3 représente de façon schématique la cinématique du dispositif selon l'invention.Figure 3 shows schematically the kinematics of the device according to the invention.

    Le mouvement se décompose en trois phases :The movement breaks down into three phases:

    1 - La prise de la fenêtre dans le magasin par les ventouses :1 - The taking of the window in the store by the suction cups :

    La hauteur de prise des ventouses se situe à environ 50 mm du bord inférieur de la feuille de PVC par rapport au sens de rotation. Ceci favorise la précision d'assemblage lors de la dépose de la feuille PVC sur la découpe carton, le PVC étant maintenu à l'avant du sens d'amenage.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.

    A la prise, la trajectoire de la ventouse a un rôle déterminant quant à la vitesse et à la précision de dépilage des fenêtres dans le magasin.When taken, the trajectory of the suction cup has a role determining the speed and precision of unstacking windows in the store.

    Précision : la ventouse doit venir prendre la fenêtre par un point de contact sans glissement. A ce point précis de la prise, la ventouse est à la normale de la fenêtre. Clarification: 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.

    Vitesse : Pour dépiler rapidement un paquet de feuilles dans le magasin, il faut faciliter l'introduction d'air entre la feuille que l'on veut dépiler et le reste du paquet, ceci afin de lutter contre le phénomène de collage par «effet de glace». La ventouse doit alors s'incliner vers le bas, dans le sens de la trajectoire, à l'inverse de la trajectoire d'une hypocycloïde après son point de rebroussement.Speed: To quickly unstack a packet of sheets in the store, it is necessary to facilitate the introduction of air between the sheet that we want to unstack and the rest of the package, this in order to combat the phenomenon of sticking by "Ice effect". The suction cup should then tilt towards the down, in the direction of the trajectory, unlike the trajectory of a hypocycloid after its point of cusp.

    2 - Phase de transfert :2 - Transfer phase:

    Cette phase correspond au transfert de la fenêtre, de la prise à la dépose, par le plus court chemin. L'orientation de la ventouse vers une trajectoire uniforme circulaire le plus tôt possible, permet la lecture de la fenêtre par une cellule, pour une rectification électronique du produit avant dépose.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.

    3 - Phase de dépose :3 - Removal phase:

    La vitesse décrit une trajectoire uniforme circulaire. Lors de la dépose de la fenêtre sur l'étui carton, la vitesse des deux produits est alors identique.Speed describes a uniform trajectory circular. When removing the window on the cardboard case, the speed of the two products is then identical.

    Les figures 4 à 9 représentent le dispositif à différents stades d'un cycle. Un seul support de ventouse est représentée pour simplifier les figures.Figures 4 to 9 show the device to different stages of a cycle. Only one suction cup holder is shown to simplify the figures.

    Au moment de la prise de la feuille du margeur, le dispositif occupe la position représentée en figure 4. Le bras articulé (11) est orienté radialement, les deux segments (30) et (31) étant alignés. La ventouse (4) est dans le prolongement du bras articulé (11), en extension maximale. La surface d'appui de la ventouse est dans un plan sensiblement normal au bras articulé (11), et donc parallèle à la feuille à prélever. La couronne principale est entraínée à une vitesse Vp constante pendant l'ensemble du cycle.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.

    La couronne secondaire (25) est arrêtée.The secondary crown (25) is stopped.

    La rotation du plateau (10) provoque le basculement du porte-ventouse comme représenté en figure 5. Le segment arrière (30) bascule dans le sens opposé au sens de rotation du plateau (10). Le segment extérieur (31) bascule dans le même sens que le plateau (10) sous l'effet du guidage par la bielle de guidage (15). Ce mouvement du bras articulé (11) provoque le déplacement de la ventouse vers le centre du plateau, et le basculement de la surface d'aspiration de la ventouse, entraínant la feuille à former le dièdre précédemment décrit.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.

    Lorsque le plateau à tourné de quelques degrés, la couronne secondaire (25) est entraínée à une vitesse de rotation Vc supérieure à la vitesse Vp du plateau principale. Le bras articulé (11) reprend alors une configuration rectiligne et la ventouse (4) est reportée en position extérieure.When the plate has rotated a few degrees, 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.

    Un capteur (35) détecte le passage du bord de la feuille (36) et transmet une information temporelle au calculateur qui commande la vitesse de rotation de la couronne secondaire (25). En cas de décalage par rapport à une consigne, la vitesse de rotation et augmentée ou diminuée pour assurer le positionnement correcte de la feuille au moment de la dépose sur le flan entraíné par un tapis transporteur.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.

    Au moment de la dépose, le plateau (10) et la couronne secondaire (25) sont entraínées à des vitesses identiques, en synchronisation avec la vitesse de défilement du flan sur lequel la feuille (36) est déposée, comme représenté en figure 8.At the time of removal, 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.

    Après la dépose, la couronne (25) est à nouveau arrêtée, provoquant le repliement du bras articulé (11) et le retrait de la ventouse en direction du centre du plateau.After removal, the crown (25) is again stopped, causing the folding of the articulated arm (11) and the removal of the suction cup towards the center of the tray.

    Pendant la fin du cycle, la couronne (25) est à nouveau entraínée pour assurer le déplacement de la ventouse en direction extérieure, selon un mouvement illustré en figure 1.During the end of the cycle, the crown (25) is at new drive to move the suction cup in the external direction, according to a movement illustrated in figure 1.

    Claims (10)

    1. Method for unstacking sheets stacked in a feeder, comprising:
      a step of bringing a suction cup (4) close to the surface of the upper sheet (2) of the stack (3), said suction cup (4) being mounted on a suction cup support (11) integral with a rotating plate (10);
      a step of setting the suction cup (4) in contact with the surface of said upper sheet (2), the suction cup (4) being applied in an off-centre zone of the upper sheet (2), and a step of moving away the suction cup (4) after gripping the upper sheet (2),
      characterised in that the rotating plate (10) is driven at a constant rotation speed (Vp) and the suction cup support is driven at a speed (Vc) varying between 0 and a speed (Vc) greater than the speed (Vp) of said rotating plate (10),
      and in that said suction cup (4) is inclined, at the beginning of the moving away step, to cause a deformation of the upper sheet (2) producing lateral separation before total separation of the upper sheet (2) produced by said suction cup (4).
    2. Method for unstacking stacked sheets according to claim 1, characterised in that it comprises:
      a step of bringing the suction cup (4) closer to the surface of the upper sheet (2) of the stack (3), the rotating plate (10) being driven at a constant rotation speed (Vp);
      a step of setting the suction cup (4) in contact with the surface of the upper sheet (2) of the stack (3), the rotating plate (10) being driven at a constant rotation speed (Vp) while the suction cup support is stopped;
      a step of moving away the suction cup (4) after gripping the upper sheet (2), the rotating plate (10) being driven at a constant rotation speed (Vp) and the suction cup support at a speed (Vc) greater than the speed (Vp) of said rotating plate (10) and then identical to the speed (Vp) of said rotating plate (10) and,
      a step of depositing said sheet, the plate (10) and the suction cup support being driven at identical speeds.
    3. Method for unstacking stacked sheets according to either one of claims 1 or 2, characterised in that the suction cup (4) is inclined by tilting relative to the lateral area of the suction cup (4) closest to the centre of the upper sheet (2).
    4. Method for unstacking stacked sheets according to any one of claims 1 to 3, characterised in that the suction cup (4) is brought close to the upper sheet (2) along a first curved path (1) closely tangential with the normal to the upper sheet (2), and in that the suction cup (4) is moved away, after contact with the upper sheet (2), along a curve (5) closely symmetrical with the first curve (1), relative to a plane perpendicular to the surface of the new upper sheet of the stack.
    5. Method for unstacking stacked sheets according to claim 4, characterised in that the suction cup (4) is inclined, during the moving away step, along an initial path corresponding closely to the end of the first curve (1).
    6. Equipment for unstacking stacked sheets comprising a rotating plate (10) driving at least one suction cup support supporting a suction cup (4) characterised in that the suction cup support being formed of an articulated arm (11) mobile relative to a pivoting axis (12) extending perpendicularly to a peripheral area of the rotating plate (10), the articulated arm (11) is guided by a guide rod (15) with one end (16) guided in translation by a linear bearing (17) supported by the rotation axis (18) of the rotating plate, and the other end connected to the articulated arm (11) by a pivot (20), and in that the suction cup support is driven by a motor independent from the driving motor of the rotating plate (10) supporting the suction cup support, the suction cup support being driven at a speed (Vc) varying between 0 and a speed (Vc) greater than the speed (Vp) of said rotating plate (10).
    7. Equipment for unstacking stacked sheets, according to claim 6, characterised in that the articulated arm (11) is formed by a rear segment (30) and an external segment (31) articulated by a pivot (32).
    8. Equipment for unstacking stacked sheets, according to claim 7, characterised in that the rear segment (30) of the suction cup support is driven by said independent motor.
    9. Equipment for unstacking stacked sheets, according to claim 8, characterised in that said independent motor is controlled by a computer receiving a signal from a sensor (35) detecting the passage of the edge of the sheet supported by the suction cup (4).
    10. Equipment for unstacking stacked sheets, according to at least one of claims 6 to 9, characterised in that the guide rod (15) is connected to the external segment (31) of the articulated arm (11) by a laterally shifted pivot (20).
    EP00935255A 1999-07-13 2000-05-24 Method for unstacking sheets stacked in a feeder Expired - Lifetime EP1144290B1 (en)

    Applications Claiming Priority (3)

    Application Number Priority Date Filing Date Title
    FR9909115A FR2793783A1 (en) 1999-05-20 1999-07-13 Semi=rigid polyvinyl chloride sheets, etc are separated from top of stack using suction cup gripping top sheet off centre and inclined to stack prior to moving away from stack
    FR9909115 1999-07-13
    PCT/FR2000/001411 WO2001004033A2 (en) 1999-07-13 2000-05-24 Method for unstacking sheets stacked in a feeder

    Publications (2)

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

    Family

    ID=9548078

    Family Applications (1)

    Application Number Title Priority Date Filing Date
    EP00935255A Expired - Lifetime EP1144290B1 (en) 1999-07-13 2000-05-24 Method for unstacking sheets stacked in a feeder

    Country Status (7)

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

    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 (en) * 2008-08-08 2012-06-27 Müller Martini Holding AG Device for loading a processing device with printed products
    FR3085364B1 (en) 2018-08-28 2020-10-02 Esatec Etudes Services Automatismes Techniques DEPILING EQUIPMENT

    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 (en) * 1966-02-25 1967-06-01 Mead Corp A feeding mechanism. (Machine-translation by Google Translate, not legally binding)
    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 (en) * 1989-01-30 1991-02-06 Brother Kogyo Kabushiki Kaisha Sheet feeding mechanism having dust preventing means and method for cleaning the sheet feeding mechanism
    JPH03238244A (en) * 1990-02-15 1991-10-24 Matsushita Electric Works Ltd Plate material separating and supplying device
    JPH05246565A (en) * 1992-03-09 1993-09-24 Nec Kansai Ltd Paper sheet separating conveying device
    DE19522741C2 (en) * 1995-06-22 1997-07-17 Kodak Ag Device for removing a sheet from a stack

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

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