EP0262003B1 - Einrichtung zur Kontrolle und Behandlung von Gegenständen - Google Patents

Einrichtung zur Kontrolle und Behandlung von Gegenständen Download PDF

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Publication number
EP0262003B1
EP0262003B1 EP19870401845 EP87401845A EP0262003B1 EP 0262003 B1 EP0262003 B1 EP 0262003B1 EP 19870401845 EP19870401845 EP 19870401845 EP 87401845 A EP87401845 A EP 87401845A EP 0262003 B1 EP0262003 B1 EP 0262003B1
Authority
EP
European Patent Office
Prior art keywords
fixed
movable
detecting means
jaws
pushing
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
EP19870401845
Other languages
English (en)
French (fr)
Other versions
EP0262003A1 (de
Inventor
César Felix
Jean-Claude Glain
Noel Dumoulin
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.)
CMB Packaging SA
Original Assignee
CMB Packaging SA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by CMB Packaging SA filed Critical CMB Packaging SA
Publication of EP0262003A1 publication Critical patent/EP0262003A1/de
Application granted granted Critical
Publication of EP0262003B1 publication Critical patent/EP0262003B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/04—Sorting according to size
    • B07C5/08—Sorting according to size measured electrically or electronically
    • B07C5/083—Mechanically moved sensing devices, the movement of which influences the electric contact members

Definitions

  • the invention relates to a device for controlling and handling objects, in particular flat objects such as bases or pallets, and capable of ensuring both the control of the dimensions of such an object and its routing to such or such treatment or recycling station, depending on the dimension check carried out.
  • the invention applies in particular to the handling and recycling of bases or pallets supporting batches of raw material, in particular sheets, in an industrial installation.
  • pallets loaded with sheets are sent to a destacking station supplying a printing or varnishing line, while other empty pallets must be placed at the exit of this same station, to receive the treated sheets there, with a view to their subsequent routing to another work station.
  • the pallets therefore follow a circuit which differs from that of the sheets and must therefore be transported, empty, from one place to another, for example from a destacking station to a storage station or to a re-stacking station, etc. ...
  • the sheets intended to form these packages have different chosen dimensions. It is the same for the pallets which carry them. It is therefore necessary to check the dimensions of an empty pallet, in particular before placing it at a station where it must receive sheets of a given format. Until now, this control has been carried out visually and the elimination of an over-the-counter pallet required human intervention.
  • document DE-A-1 623 344 describes a sorting system of coil cores in which conical elements come into contact with the ends of said cores. Such a mechanism is inapplicable for the treatment of flat objects, in particular pallets.
  • Document FR-A-988 692 relates to the measurement or calibration of rods or tubes from a deformable capsule filled with liquid.
  • the invention provides a device specially adapted for the treatment of flat objects such as bases or pallets by combining the control and handling functions in the same automatic device.
  • the invention therefore relates to a device for controlling and handling flat objects such as for example bases or pallets, comprising a gripping assembly comprising two jaws, at least one of which is movable relative to the other in a predetermined direction. and a first position detection assembly comprising a detector means and an actuation means of the latter, one of the two means being placed along the path of the other, which is integral with said movable jaw, characterized in that that it further comprises a thrust assembly comprising a fixed reference stop and a stop forming a pusher, movable in a direction perpendicular to said predetermined direction and placed so as to place an aforementioned object between the two jaws apart while placing it in contact with said fixed reference stop, and in that said pusher stop and said gripping assembly are carried by u n mobile chassis.
  • the device shown comprises a frame 11, movable, in particular vertically and serving as a support for first guide means 12 oriented in a predetermined direction identified by the double arrow A and second guide means 14, oriented in another direction perpendicular to said predetermined direction and identified by the double arrow B.
  • the chassis further carries a probe 15 equipped with two detectors allowing respectively to stop the chassis moving vertically downwards, empty, as soon as it comes into contact with an object to be captured is detected and another probe designed to command the stopping of the same chassis under load, as soon as a contact of the object on any unloading plan, is recorded.
  • the chassis 11 is also linked to other means of movement, not shown, making it possible to route it to various stations, for example a station for recycling the object seized (if its dimensions correspond to those which are desired) or a station for storage.
  • the first guide means 12 essentially comprise two parallel sliding shafts 16 while the second guide means 14 comprise two parallel sliding shafts 18, perpendicular to the shafts 16. All these shafts are integral with the chassis 11.
  • the handling control device also comprises a gripping assembly 19 associated with said first guide means and comprising in particular two parallel jaws 22, 23 of which at least one is movable in the direction A. According to the example, the two jaws are movable and provided with bores allowing them to slide along the shafts 16.
  • the jaw 22 is directly actuated by the rod of a jack 25, via an articulated connection, the jack body being mounted on the chassis 11.
  • the two jaws 22, 23 are coupled by a system of transmission 28 ensuring a symmetrical and reciprocal displacement of these.
  • this system comprises two return pulleys 30 (or pinions) rotating around vertical axes integral with the chassis 11 and a closed cable 31 (or a chain) wound around said pulleys.
  • the cable 31 is fixed at two points 32, 33 to the two jaws, respectively, these points being located on either side of the plane passing through the axes of the two pulleys.
  • the device further comprises a first position detection assembly comprising a detector means 34 and an actuation means 35 of the latter.
  • One of the two means is placed along the path of the other, integral with the jaw 22. According to the example, it is the actuating means 35 which is carried by the jaw 22.
  • the detector means 34 is integral with a first positioning mechanism 38 adjustable parallel to direction A, conventionally comprising a threaded rod 38 a with which it is engaged and a sliding rod 38 b parallel to the threaded rod.
  • the position adjustment of the detector means 34 is operated under the control of an electric motor 40 driving the threaded rod in rotation and controlled in particular by the information delivered by an incremental optical encoder 41 or the like coupled to this same threaded rod.
  • the device further comprises a thrust assembly comprising a fixed reference stop 42 and a stop forming a pusher 44, movable in the direction B and arranged so as to be able to push an object concerned (a pallet) towards the fixed stop 42 until that it comes into contact with it while being placed between the two jaws 22, 23 apart.
  • the movable stop 44 is mounted along the second guide means 14; it comprises a slide 44 a provided with bores to allow it to be slidably engaged on the shafts 18.
  • a support 45 similar to the slider 44 a is also engaged on the shafts 18; it is moved along these by a second positioning mechanism 46 adjustable parallel to direction B.
  • a second set of detection of positions 48 comprises a detector means 49 and an actuation means 50 of the latter.
  • the detector means 49 is secured to the support 45 and mounted in a door -overhang on one side thereof while the actuating means 50 is fixed on the side of the slide 44 a .
  • the adjustable positioning mechanism 46 comprises a threaded rod 52 engaged with the support 45 and driven in rotation by an electric motor 54. The latter is controlled in particular by the information delivered by an incremental optical encoder 56 or the like coupled to this same threaded rod 52.
  • An actuating cylinder 58 of the slide 44 a is mounted between the latter and the support 45. More specifically, the body of the cylinder is fixed to the support 45 and its rod is hingedly linked to the slide 44 a . This arrangement makes it possible to have a cylinder 58 of relatively short stroke and therefore to reduce the dimensions of the device, in direction B.
  • each detector means 34 or 49 is of the photosensitive type so that the corresponding actuation means 35 or 50 is constituted by a plate or the like, forming a shutter, capable of obscuring the corresponding detector means when the dimension of the object in direction A or B, respectively, conforms to what is expected. Consequently, the width of each of these plates determines a tolerance for checking the corresponding dimension of the object.
  • the operation of the device which has just been described is very simple and follows clearly from the description above.
  • the chassis 11 descends to the level of a pallet to be grasped, until the probe 15 comes into contact therewith and controls the stopping of the vertical movement of the chassis. Then the sequencing of the operations is such that it is first the thrust assembly which is actuated, the stop forming the pusher 44 pushing the pallet until the latter comes into contact with the fixed stop 42. If the dimension of the pallet in direction B is correct, then the actuating means 50 is opposite the detection means 49. This data of measurement is memorized.
  • the gripping assembly is actuated until the two jaws 22, 23 come to grip the pallet, in the direction A.
  • the actuating means 35 must be in look of the detector means 34, if the dimension of said pallet in direction A is correct. This measurement data is also stored.
  • the frame 11 is again maneuvered to direct the pallet entered towards such or such station, according to the stored measurement data.
  • the adjustable positions of the detector means 34 and 49 make it possible to select objects of any size identified in the directions A and B.
  • the invention is not limited to the embodiment which has just been described.
  • the detector means 34 and 49 may be mechanically actuated (feelers) or magnetic (Hall effect cells), the actuating means being, in the latter case, magnets.

Landscapes

  • Specific Conveyance Elements (AREA)
  • Automatic Assembly (AREA)

Claims (8)

1. Einrichtung zur Kontrolle und Behandlung von flachen Gegenständen, wie z.B. Untersätze oder Paletten, mit einer Greiferanordnung (19), welche zwei Backen (22, 23) aufweist, von denen wenigsens eine in Bezug auf die andere entlang einer vorbestimmten Richtung (A) beweglich ist, und mit einer ersten Stellungsdetektoranordnung, welche ein Detektormittel (34) und ein von diesem betätigtes Mittel (35) aufweist, wobei eines von den beiden Mitteln entlang der Bahn des anderen angeordnet ist, welches mit dem genannten beweglichen Backen (22) fest verbunden ist, dadurch gekennzeichnet, daß sie eine Schiebeanordnung umfaßt, die einen festen Bewegungsanschlag (42) und einen Anschlag in Form eines Schiebers (44) aufweist, der entlang einer Richtung (B) senkrecht zu der genannten vorbestimmten Richtung (A) beweglich und in der Weise angeordnet ist, daß er einen vorerwähnten Gegenstand zwischen die gespreizt angeordneten Backen anordnet und ihn dabei in Kontakt mit dem genannten festen Bezugsanschlag bringt und daß der genannte, den Schieber bildende Anschlag (44) und die genannte Greiferanordnung (19) durch ein bewegliches Chassis (11) getragen sind.
2. Einrichtung nach Anspruch 1, dadurch gekennzeichnet, daß die genannte Schieberanordnung darüber hinaus eine zweite Stellungsdetektoranordnung (48) umfaßt, der ein Detektormittel (49) und ein Mittel (50) aufweist, das von dem Letzteren betätigt wird, wobei eines der beiden Mittel entlang der Bahn des anderen Mittels angeordnet ist, das fest mit dem genannten, den Schieber bildenden Anschlag verbunden ist.
3. Einrichtung nach einem der Ansprüche 1 oder 2, dadurch gekennzeichnet, daß die beiden vorerwähnten Backen entlang der ersten Führungsmittel (12), wie z.B. zwei parallelen Gleitstangen (16), beweglich montiert ist.
4. Einrichtung nach Anspruch 3, dadurch gekennzeichnet, daß die beiden Backen durch ein Getriebesystem (28) gekuppelt sind, welches deren symmetrische Verstellung sicherstellt, z.B. durch ein System aus einem in sich geschlossenen Kabel (31) oder einer in sich geschlossenen Kette und Scheiben (30) bzw. Kettenräder.
5. Einrichtung nach einem der voranstehenden Ansprüche, dadurch gekennzeichnet, daß die Detektormittel (34) der genannten ersten Detektoranordnung mit einem ersten Stellungsmechanismus (38) fest verbunden ist, der parallel zu der genannten vorbestimmten Richtung einstellbar ist.
6. Vorrichtung nach einem der voranstehenden Ansprüche, dadurch gekennzeichnet, daß der den Schieber bildende Anschlag (44) der genannten Schieberanordnung beweglich entlang der zweiten Führungsmittel (14), z.B. wie zwei parallele Gleitstangen (18), montiert ist, und daß er mit einem Teil eines Betätigungszylinders (58) verbunden ist, und daß der andere Teil des Zylinders an einem Stützteil (45) befestigt ist, der selbst beweglich entlang der gleichen Führungsmittel (14) angeordnet ist, und daß die Stützeinrichtung mit einem zweiten Stellungsmechanismus (46) gekuppelt ist, der parallel zu der genannten, senkrecht dazu verlaufenden Richtung (B) einstellbar ist.
7. Einrichtung nach Anspruch 6, dadurch gekennzeichnet, daß die Detektormittel (49) der genannten zweiten Detektoranordnung mit dem genannten Stützteil (45) verbunden sind.
8. Einrichtung nach einem der voranstehenden Ansprüche, dadurch gekennzeichnet, daß wenigstens eines der zuvor erwähnten Detektormitteil (34, 49) von einem photosensiblen Typ ist und daß die vorgenannten Betätigungsmittel durch eine Scheibe oder einen analogen Teil gebildet sind, welche eine Abdeckung (35, 40) bildet, die geeignet ist, die genannten Detektormittel abzudecken, wobei die Größe der genannten Platte oder des analogen Elementes eine Toleranz bestimmt, um eine der Abmessungen des voererwähnten Gegenstandes zu kontrollieren.
EP19870401845 1986-08-26 1987-08-07 Einrichtung zur Kontrolle und Behandlung von Gegenständen Expired - Lifetime EP0262003B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8612066A FR2603214B1 (fr) 1986-08-26 1986-08-26 Dispositif de controle et de manutention d'objets.
FR8612006 1986-08-26

Publications (2)

Publication Number Publication Date
EP0262003A1 EP0262003A1 (de) 1988-03-30
EP0262003B1 true EP0262003B1 (de) 1991-03-13

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ID=9338499

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19870401845 Expired - Lifetime EP0262003B1 (de) 1986-08-26 1987-08-07 Einrichtung zur Kontrolle und Behandlung von Gegenständen

Country Status (4)

Country Link
EP (1) EP0262003B1 (de)
DE (1) DE3768595D1 (de)
ES (1) ES2023207B3 (de)
FR (1) FR2603214B1 (de)

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR988692A (fr) * 1949-04-14 1951-08-30 Dispositif palpeur pour la mesure et le calibrage de pièces telles que tiges, tubes, etc.
DE1623344A1 (de) * 1967-11-21 1971-03-25 Zinser Textilmaschinen Gmbh Sortiervorrichtung

Also Published As

Publication number Publication date
ES2023207B3 (es) 1992-01-01
FR2603214B1 (fr) 1990-05-11
EP0262003A1 (de) 1988-03-30
DE3768595D1 (de) 1991-04-18
FR2603214A1 (fr) 1988-03-04

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