EP3844089B1 - Entstapelvorrichtung - Google Patents

Entstapelvorrichtung Download PDF

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Publication number
EP3844089B1
EP3844089B1 EP19774139.0A EP19774139A EP3844089B1 EP 3844089 B1 EP3844089 B1 EP 3844089B1 EP 19774139 A EP19774139 A EP 19774139A EP 3844089 B1 EP3844089 B1 EP 3844089B1
Authority
EP
European Patent Office
Prior art keywords
suction cup
carriage
sheets according
unstacking
stacked sheets
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Not-in-force
Application number
EP19774139.0A
Other languages
English (en)
French (fr)
Other versions
EP3844089A1 (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
Original Assignee
Etudes Services Automatismes Techniques SA ESATEC
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 Etudes Services Automatismes Techniques SA ESATEC filed Critical Etudes Services Automatismes Techniques SA ESATEC
Publication of EP3844089A1 publication Critical patent/EP3844089A1/de
Application granted granted Critical
Publication of EP3844089B1 publication Critical patent/EP3844089B1/de
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • B65H3/0816—Suction grippers separating from the top of pile
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H1/00—Supports or magazines for piles from which articles are to be separated
    • B65H1/26—Supports or magazines for piles from which articles are to be separated with auxiliary supports to facilitate introduction or renewal of the pile
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H1/00—Supports or magazines for piles from which articles are to be separated
    • B65H1/28—Supports or magazines for piles from which articles are to be separated compartmented to receive piles side-by-side
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H3/00—Separating articles from piles
    • B65H3/08—Separating articles from piles using pneumatic force
    • B65H3/0808—Suction grippers
    • B65H3/0883—Construction of suction grippers or their holding devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H3/00—Separating articles from piles
    • B65H3/36—Separating articles from piles by separators moved in special paths, e.g. enclosing an area
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2402/00—Constructional details of the handling apparatus
    • B65H2402/30—Supports; Subassemblies; Mountings thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2403/00—Power transmission; Driving means
    • B65H2403/50—Driving mechanisms
    • B65H2403/53—Articulated mechanisms
    • B65H2403/531—Planar mechanisms
    • B65H2403/5311—Parallelogram mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2406/00—Means using fluid
    • B65H2406/30—Suction means
    • B65H2406/34—Suction grippers
    • B65H2406/344—Suction grippers circulating in closed loop
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2555/00—Actuating means
    • B65H2555/10—Actuating means linear
    • B65H2555/13—Actuating means linear magnetic, e.g. induction motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/10—Handled articles or webs
    • B65H2701/17—Nature of material
    • B65H2701/176—Cardboard

Definitions

  • the present invention relates to the field of unstacking flat objects stacked in a charger, in particular cut cardboard sheets, semi-rigid PVC sheets or even printed circuits stacked in a charger and the transfer of these objects between the charger and a transfer mat.
  • Such unstackers comprise a mechanism for driving a suction cup which is alternately approached, brought into contact and then moved away from the stack of sheets.
  • the suction cup is pressed against the top sheet of the stack, and then drives the top sheet away from the stack before depositing it on another work area, for example on a vacuum conveyor.
  • the international patent application WO2017021103 describes a method for removing veneer sheets from a stack, in which a first sheet of a stack is removed from the stack by means of a suction device of a movable gripper and the sheet is then transferred onto a conveyor and then transported, said method being characterized in that after having been lifted by a first gripper, the sheet is delivered to a second gripper which transfers it to the conveyor.
  • the present invention relates, in its most general sense, to equipment for unstacking stacked sheets according to claim 1.
  • the figure 1 shows an overview of the upstream part of a cartoning installation. It comprises, in known manner, a supply unit (100) for supplying and loading the stacks of blanks (101) and a conveyor (200) of the unstacked blanks (301).
  • the transfer between the stack of blanks (102) of the destacker (110) on the vacuum conveyor (200) is carried out by a transfer unit (300) which is the subject of the invention.
  • this transfer unit (300) The role of this transfer unit (300) is to take the blank (111) present at the upper surface of the destacker (110), at zero horizontal speed to avoid any slippage with respect to the following blank, which could cause scratches or damage. the surface condition, if it is for example varnish sheets.
  • the transfer unit controls an angular displacement of the suction head to modify the plane of contact with respect to the plane parallel to the plane of the conveyor by a few degrees, according to an example of a solution described below.
  • the blank (111) detached from the stack of the destacker (102) then passes from zero horizontal speed to a horizontal speed identical to that of the vacuum conveyor (300).
  • the transfer unit (300) then controls the release of the blank, when the relative speed between the suction cup and the conveyor is zero, to apply the transferred blank to the conveyor.
  • horizontal means the plane formed by the upper surface of the suction belt of the conveyor (200).
  • the supply unit (100) comprises a loading station (120) consisting of a loading plate (121) the bottom of which consists of a fork (122) having several teeth connected at the rear by a crosspiece ( 123). The teeth are spaced at intervals corresponding to the spacing of the belts (131) of a conveyor belt (130).
  • This belt conveyor (130) moves the stacks of blanks between the loading station (120) and the destacker (110).
  • the plate (121) is vertically movable relative to a motorized frame (132) between a high loading position, allowing an operator to deposit a stack of blanks (101) without bending down, and a low position where the bottom of the stack comes to rest on the bands (131) of the belt conveyor (130).
  • the belt conveyor (130) moves a new stack into the destacker (110).
  • the unstacker (110) also comprises a plate (112) constituted by a crosspiece provided with teeth spaced apart to fit between the strips (131) of the belt conveyor (130).
  • This plate (112) is movable relative to a motorized frame (113) between a low position, lower than the surface of the strips (131), where it can come into contact with the lower surface of a stack present on the conveyor strips (130), and working positions where the plate (112) is raised sequentially so that the upper blank (111) is positioned in the horizontal gripping plane by a suction cup of the transfer unit (200).
  • the picture 3 represents a schematic view of an embodiment of a moving assembly controlling the trajectory and orientation of the suction cup (430).
  • the suction cup (430) is actuated by a crew formed by a downstream carriage (410) and an upstream carriage (420).
  • the two carriages (410, 420) are in known manner equipped with permanent magnets electromagnetically coupled with the electric coils equipping the stator (250), to form a pair of linear motors.
  • Controlling the supply of the stator coils makes it possible to control the independent movement of each of the carriages (410, 420) constituting a moving assembly. This control makes it possible to control the speed and the amplitude of the movement of each of the carriages (410, 420), the direction of the movement, and of course the relative movement of the downstream carriage (410) of the mobile assembly with respect to the upstream carriage (420) of the same mobile assembly.
  • the suction cup (430) is supported by a tilting plate (431) connected by a pivot to the lower arm (424) of a structure forming a deformable parallelogram.
  • This deformable parallelogram is formed by an upper arm (421) fixed to the upstream carriage (420).
  • the lower arm (424) and the upper arm (421) are connected by two parallel arms (422, 423) via pivots.
  • tilting plate (431) Another point of the tilting plate (431) is connected by a pivot to a connecting rod (411) to the downstream carriage (410).
  • the deformation of the deformable parallelogram connecting the suction cup (430) to the upstream carriage (420) determines the distance between the suction cup (430) and the rail (250) and makes it possible to control the vertical positioning of the suction cup (430).
  • the Figure 2bis shows a perspective view of the connection between a line of suction cups (430) mounted on a splined or square rod (460).
  • the suction cups are fixed on the rod (460) by a flange (465) which can be moved along the rod (460) to adapt the lateral position of the suction cup(s) (430) to the dimensions of the blank to be moved, then tightened on the rod (460). All the suction cups (430) mounted on the same rod pivot at the same time.
  • the rotation of the rod is ensured by the tilting plate (431) which is articulated, on either side of the rod (460), with respect to a pair of front arms (422, 442) and rear arms (424 , 444).
  • the other ends of its arms are articulated with respect to the upper plate (421), the assembly forming a pair of deformable parallelograms.
  • a connecting rod (450) is positioned inside the parallelogram and has the function of amplifying the rotation of the suction cup (430) when the parallelogram reaches the end of its travel in one direction.
  • the figures 3 to 9 represent a non-limiting example of kinematics for picking up and depositing a blank (111) present, at the deposit, at the top of the stack of the destacker.
  • the figure 2 represents the crew in the arrival position of the suction cup, approaching the unstacker.
  • the electric control circuit controls the slowing down of the downstream carriage (410) relative to the upstream carriage (420).
  • the picture 3 represents the position when the suction cup (430) is brought into contact with the upper blank (111).
  • the control circuit continues to control a slowing down of the downstream carriage (410) relative to the upstream carriage (420) and controls the activation of the vacuum in the conduit connected to the active suction cup (430).
  • the horizontal displacement of the suction cup is zero.
  • the figure 4 represents the next step of maintaining the suction cup (430) at a fixed point while continuing to advance the carriages (410, 420).
  • the control circuit controls the maintenance of the slowing down of the downstream carriage (410) relative to the upstream carriage (420).
  • the next step is illustrated by the figure 5 , representing the detachment of the blank (111) relative to the stack of the destacker.
  • the downstream carriage (410) continues to be slowed relative to the upstream carriage (420), both continuing to advance.
  • the figure 6 represents the vertical displacement of the blank (111) held by the suction cup (430).
  • the next step represented in figure 7 corresponds to the acceleration of the moving assembly to pass from zero speed to a speed corresponding to that of the conveyor, to synchronize the speeds.
  • the figure 8 represents the placement of the blank (111) on the conveyor (300).

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Sheets, Magazines, And Separation Thereof (AREA)

Claims (8)

  1. Einrichtung zum Entstapeln gestapelter Bögen durch eine Übertragungseinheit, die mehrere Saugnäpfe (430) umfasst, wobei die Übertragungseinheit aus einem Linearmotor mit geschlossener Bahn (200) besteht, der mehrere bewegbare Ausrüstungen antreibt, die die Saugnapfträger (430) tragen, wobei die Einrichtung dadurch gekennzeichnet ist, dass der Saugnapfträger (430) eine erste Gelenkverknüpfung, die mit einem ersten Wagen (420) verbunden ist, und eine zweite Gelenkverknüpfung enthält, die mit einem zweiten Wagen (410) verbunden ist, wobei die Schräglage der Berührungsebene des Saugnapfes und/oder der Abstand gegenüber den Aufnahme-/Absetzebenen durch die relative Position des ersten (420) und des zweiten Wagens (410) bestimmt wird.
  2. Einrichtung zum Entstapeln gestapelter Bögen nach Anspruch 1, dadurch gekennzeichnet, dass der Linearmotor (200) aus einer Bahn (250), die eine geschlossene Schleife ausbildet, die mehrere Elektromagnetspulen enthält, die zum Herstellen variabler elektromagnetischer Felder einzeln gespeist werden, und aus mehreren Wagen (410, 420) besteht, die wenigstens einen Permanentmagneten umfassen, der mit den Elektromagnetspulen zum Erzeugen einer relativen Bewegung zwischen jedem der Wagen und der geschlossenen Bahn magnetisch zusammenwirkt, wobei die Saugnapfträger an den Wagen befestigt sind.
  3. Einrichtung zum Entstapeln gestapelter Bögen nach Anspruch 1, dadurch gekennzeichnet, dass der Linearmotor (200) einen Statorabschnitt aufweist, der sich oberhalb der Reihe erstreckt, die sich zwischen dem Aufnahmepunkt auf einem Anleger (100) und dem Absetzpunkt auf einem angrenzenden Bandförderer (300) erstreckt.
  4. Einrichtung zum Entstapeln gestapelter Bögen nach Anspruch 1, dadurch gekennzeichnet, dass der Saugnapfträger aus einer Kippplatte (431) besteht, die einerseits gegenüber der ersten Gelenkverknüpfung und andererseits gegenüber der zweiten Gelenkverknüpfung angelenkt ist.
  5. Einrichtung zum Entstapeln gestapelter Bögen nach Anspruch 4, dadurch gekennzeichnet, dass die erste Gelenkverknüpfung aus einem verformbaren Parallelogramm besteht.
  6. Einrichtung zum Entstapeln gestapelter Bögen nach Anspruch 1, dadurch gekennzeichnet, dass die Saugnäpfe durch Rohre mit einer Unterdruckkammer verbunden sind, die mit der geschlossenen Bahn durch eine Anschlusszone mit der Unterdruckkammer durch eine Drehkupplung fest verbunden ist.
  7. Einrichtung zum Entstapeln gestapelter Bögen nach Anspruch 1, dadurch gekennzeichnet, dass jede bewegbare Ausrüstung einen zusätzlichen Wagen enthält, der durch eine pneumatische Pumpe mit einem Saugnapfträgerwagen verbunden ist.
  8. Einrichtung zum Entstapeln gestapelter Bögen nach Anspruch 1, dadurch gekennzeichnet, dass sie einen Anleger enthält, der eine erste Säule zum Verladen der flachen Elemente, die mit einer unteren Gabel zum Empfangen eines Stapels flacher Elemente versehen ist, einen Bandförderer, der durch einen Schlitz getrennt ist, der der Geometrie der Gabel entspricht, und eine zweite Säule enthält, die unter der Entnahmezone angeordnet ist, die mit einer unteren Gabel versehen ist, die zwischen den Enden unterhalb des Bandförderers eingreift.
EP19774139.0A 2018-08-28 2019-08-26 Entstapelvorrichtung Not-in-force EP3844089B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1857723A FR3085364B1 (fr) 2018-08-28 2018-08-28 Equipement pour le depilage
PCT/FR2019/051962 WO2020043984A1 (fr) 2018-08-28 2019-08-26 Equipement pour le depilage

Publications (2)

Publication Number Publication Date
EP3844089A1 EP3844089A1 (de) 2021-07-07
EP3844089B1 true EP3844089B1 (de) 2022-06-01

Family

ID=65443923

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19774139.0A Not-in-force EP3844089B1 (de) 2018-08-28 2019-08-26 Entstapelvorrichtung

Country Status (3)

Country Link
EP (1) EP3844089B1 (de)
FR (1) FR3085364B1 (de)
WO (1) WO2020043984A1 (de)

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3739659C1 (de) * 1987-11-23 1989-03-23 Bat Cigarettenfab Gmbh Vorrichtung zur Zufuehrung eines Stapels von Karton-Zuschnitten zu einem Magazin
FR2664883B1 (fr) 1990-07-20 1993-03-19 Esatec Margeur rotatif pour le placement precis d'elements en feuille sur des supports plats.
WO2001004033A2 (fr) 1999-07-13 2001-01-18 Esatec Etudes Services Automatismes Techniques Procede de depilage de feuilles empilees dans un chargeur
EP1547230B1 (de) 2002-06-05 2017-03-22 Jacobs Automation, Inc. Gesteuertes bewegungssystem
EP2151405B1 (de) 2008-08-08 2012-06-27 Müller Martini Holding AG Vorrichtung zum Beschicken einer Verarbeitungsstrecke mit Druckprodukten
WO2012108870A1 (en) * 2011-02-10 2012-08-16 Hewlett-Packard Development Company, L.P. Media transport assembly
DE102015112625A1 (de) * 2015-07-31 2017-02-16 Hanses Sägewerkstechnik GmbH & Co. KG Verfahren zum Abstapeln von Furnierblättern

Also Published As

Publication number Publication date
EP3844089A1 (de) 2021-07-07
FR3085364A1 (fr) 2020-03-06
WO2020043984A1 (fr) 2020-03-05
FR3085364B1 (fr) 2020-10-02

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