Apparatus and method for manipulating a plate

Abstract

A system for moving a flexographic plate, particularly a printing plate or printing plate precursor, above a support surface along a processing station direction is disclosed, comprising: a support member for supporting a plate on its support surface; an articulated operating arm extending generally parallel to the support surface and including a first segment and a second segment; the first segment having: a first end rotatably connected to the second segment about a first rotation axis generally perpendicular to the support surface; and a second end provided with a plate engaging device for contacting the plate; the second segment being rotatable about a second rotation axis generally perpendicular to the support surface; and a control device for controlling the rotation of the first and second segments such that the plate slides above the support member along the processing station direction.

Description

Technical Field

[0001] This invention relates to apparatus and methods for manipulating plates (particularly printing plates or printing plate precursors). More specifically, the invention relates to apparatus and methods for aligning the leading edges of plates, and to apparatus and methods for moving plates (particularly flexographic plates). Background Technology

[0002] Printing plates need to be transported between various processing stations. Examples of processing that printing plates may undergo include: cutting, ablation, exposure to electromagnetic radiation, development, cleaning, brushing, rinsing, spraying, drying, irradiation, heating, cooling, material removal, treatment with gas or liquid, sanding, cutting, treatment with electromagnetic waves, and combinations thereof.

[0003] For flexographic printing, automated plate movement has been used to transport plates within the cleaning station and for process steps before or after the cleaning station. For example, moving a plate from the imaging station to the curing station and then to the cleaning station. Known systems may use conveyor belts. Furthermore, conveyor bars may be used to move the printing plate precursor, for example, through the cleaning station. For this purpose, a series of through-holes may be provided in the area of ​​the printing plate precursor in the stamping station. An example of a cleaning apparatus with a conveyor bar system is disclosed in PCT application PCT / EP2019 / 060370 filed in the name of the applicant. However, the use of conveyors and conveyor bar systems cannot be used in all parts of the process.

[0004] When transporting printing plates between different processing stations, the plates may need to be aligned and / or translated and / or rotated. Existing automated plate transport systems are not suitable for all steps. Especially when the plates need to be frequently aligned and / or rotated, operators may have to manipulate and position the plates.

[0005] Therefore, there is a need in the art for improved systems for plate transport and alignment to reduce operator handling. Summary of the Invention

[0006] The purpose of this invention is to provide an apparatus and method for aligning edges (typically the leading edge of a plate) that is robust, simple, and provides reliable results.

[0007] According to a first aspect of the invention, an apparatus for aligning the edges of a plate (particularly a printing plate or printing plate precursor) is provided. The apparatus includes a support, at least two movable elements, a detection device, at least one controllable component, and a control device. The support is configured to support the plate in a support surface and is intended to be located upstream of a processing station (e.g., a cleaning station). The at least two movable elements are arranged to move along the edge (typically the leading edge) of the plate. The at least two movable elements include a first movable element and a second movable element. The detection device is configured to detect a first measurement and a second measurement representing a first position and a second position, respectively, of the first movable element and the second movable element. The at least one controllable component is configured to perform an action on the plate. The control device is configured to control the at least one controllable component based on the first and second measurements.

[0008] By using a detection device that combines at least two movable elements to detect a first position and a second measure representing the first and second positions of the first and second movable elements, the alignment of the edges of a board can be determined. This is a robust and simple device that can be easily added to any support and provides reliable results. Thus, the process can be faster and requires less operator intervention. Furthermore, compared to prior art solutions that directly use, for example, optical sensors to detect edges, embodiments of the present invention have the advantage that, because the detection device detects measures representing the positions of the movable elements, the detection device can be arranged such that it is unaffected by changing environmental conditions (e.g., images on the board).

[0009] Preferably, at least two movable elements are arranged such that they protrude through the support surface in the initial positions of the at least two movable elements. This embodiment has the advantage that the movable elements do not obstruct other components, and detection can be performed below the support surface. However, in other embodiments, the movable elements may be positioned above the support surface, and the plate may then pass beneath the movable elements.

[0010] Preferably, at least one controllable component includes a moving device configured to move the plate above the support surface. Thus, the movement of the plate can be controlled by a control device based on a first and a second measurement measured by a detection device. For example, the moving device can be configured to rotate the plate about an axis perpendicular to the support surface to improve alignment, and once the difference between the first and second measurements is below a predetermined threshold, it can be determined that the plate is aligned.

[0011] In a preferred embodiment, the moving device is configured to rotate the plate about an axis perpendicular to the support surface and to translate the plate parallel to the support surface. The control device can then be configured to first translate and / or rotate the plate until the edge contacts at least two movable elements, subsequently rotating the plate further until the difference between the first and second measurements is below a predetermined threshold, subsequently translating the plate further above or below the at least two movable elements.

[0012] Preferably, at least two movable elements are at least two pivotable pins arranged to pivot via the edge of the plate. The pivotable elements are easily mounted in the support such that they protrude through the support surface, or are mounted above the support, and the pivot angle of the pivotable elements is a direct and accurate measure of the position of the contact point with the edge.

[0013] More preferably, at least two pivotable pins include a first pivotable pin and a second pivotable pin, and the detection device is configured to detect a first measurement and a second measurement representing a first angle and a second angle of the first pivotable pin and the second pivotable pin. The at least two pivotable pins may extend below and / or above the support surface, and the detection device (e.g., an angle detection device) may be located below the support surface, where it is unaffected by measurement interference factors, or located above the support at a distance from the support surface, and preferably unaffected by the characteristics of the plate (e.g., an image or color).

[0014] In an exemplary embodiment, at least two pins are arranged and configured such that, when not in contact with the edge of the plate, they preferably orient themselves in the upstream direction at an angle between 15 and 75 degrees relative to the support surface. Thus, for example, the pins can gradually move from a first initial position where the pins point upstream (i.e., towards the direction from which the edge originates) to a position perpendicular to the support surface, and then to a position where the pins are oriented in the downstream direction and the plate can move above the pins.

[0015] In an exemplary embodiment, at least two pivotable pins are movable between a starting position and an ending position, and a biasing device (e.g., a counterweight or spring device attached to at least two pivotable pins) is configured to apply force to the edge of the plate in the upstream direction. Optionally, an additional biasing device (e.g., a piston) is provided to force at least two pivotable pins to the ending position. Preferably, the ending position is below or significantly above the support surface to avoid damage.

[0016] In an exemplary embodiment, at least two pivotable pins are pivotally arranged about a pivot axis, which is located at a distance greater than 5 cm below or above the support surface, preferably greater than 10 cm below or above the support surface. This allows the edge to move a relatively large distance above the support surface while maintaining contact with the pivotable pins. In fact, the greater the distance between the pivot axis and the support surface, the greater the distance the edge can move parallel to the support while contacting the gradually pivoting pins. This further improves the alignment accuracy of the plates.

[0017] In a preferred embodiment, at least two movable elements and a support are configured such that when a plate passes above or below the at least two movable elements, the at least two movable elements can move below or significantly above the support surface, or be flush with the support surface. This embodiment is particularly advantageous when it is desired to first align the plate moving along the machine transport direction above the at least two movable elements, and then move the plate further along the machine transport direction. However, in other embodiments where at least one controllable component includes, for example, a stamping device, it may not be necessary for the at least two movable elements to move below or significantly above the support surface. In this case, a stamping operation can be performed when the difference between the first and second measurements is below a predetermined threshold, thereby removing the plate without having to pass above or below the at least two movable elements.

[0018] According to an exemplary embodiment, the support is a support platform provided with at least two slits through which at least two movable elements protrude. When the movable elements are pivot pins, the slits can be sized such that the pivot pin can be moved from a rest position pointing upstream to a position pointing downstream, and optionally to an end position where the pin is below or flush with the support surface.

[0019] According to an exemplary embodiment, each pivotable pin includes a first elongated portion and a second elongated portion, wherein the second elongated portion forms an angle between 120 degrees and 175 degrees relative to the first elongated portion. Preferably, the second elongated portion extends at least partially above the support surface when in the initial position, while the first elongated portion extends below the support surface.

[0020] According to a preferred embodiment, the detection device is disposed below the support surface. This way, the detection device is unaffected by changing environmental factors (e.g., images on the board). For example, when the movable element is a pivot pin, the detection device may include angle sensors for each pin, preferably arranged close to the pivot axis of the pivot pin. According to another embodiment, the detection device is disposed above the support surface, preferably so that it is unaffected by the characteristics of the board.

[0021] According to an exemplary embodiment, the support member can be configured such that the support surface is an inclined surface. In particular, when the processing station downstream of the movable element is a cleaning station, having a support surface that is slightly inclined downwards in the direction of the cleaning station may be advantageous.

[0022] According to an exemplary embodiment, at least one controllable component includes any one or more of the following devices: a stamping device, a plate connecting device, and a plate gripping device.

[0023] According to an exemplary embodiment, the mobile device includes any one or more of the following: at least one robotic arm, a set of rollers, a set of chains, and a set of belts.

[0024] According to a preferred embodiment, at least two movable elements are intended to engage the leading edge of the plate and to align the plate such that the leading edge is oriented substantially perpendicular to the direction in which the plate is moved through the device along the machine transport direction.

[0025] According to another exemplary embodiment, at least two movable elements may be used to center the plate, wherein a side edge contacts one of the movable elements. In this embodiment, the moving device is preferably configured to translate the plate parallel to the support surface in a direction perpendicular to the machine transport direction, wherein a control device is configured to control the moving device until the measurement of the pin contacting the side edge is within a predetermined range.

[0026] According to an exemplary embodiment, the moving device includes an articulated manipulator arm configured to translate and / or rotate a plate such that the edge of the plate moves in the directions of at least two movable elements. Optionally, the moving device further includes a plate engaging device at the end of the articulated manipulator arm, the plate engaging device being configured to contact the plate in such a way that movement of the manipulator arm causes the plate to slide over a support surface. The plate engaging device may be a suction device, a clamping device, or simply a head having a contact surface that presses against the plate. In the latter case, friction and / or adhesion between the contact surface and the plate may be sufficient to enable the plate to slide over the support surface.

[0027] Preferably, the control device is configured to compare a first measurement and a second measurement, and determine that the edge of the plate is aligned or the plate is centered when the difference between the first measurement and the second measurement is less than a predetermined threshold.

[0028] Preferably, the distance between the first movable element and the second movable element is in the range of 10cm to 1000cm, more preferably in the range of 10cm to 500cm, and more preferably in the range of 10cm to 100cm.

[0029] In a preferred embodiment, two movable elements are used to align the leading edges. However, three or more movable elements may also be used.

[0030] In a further improved embodiment, two movable elements may be provided for aligning the leading edge of the plate moving in the machine transport direction, and one or two additional movable elements may be provided for centering the plate in a direction perpendicular to the machine transport direction. When pivoting pins are used, the pin for aligning the leading edge can pivot in a plane parallel to the machine transport direction and perpendicular to the support surface, while one or more other pins for centering the plate can pivot in a plane perpendicular to the machine transport direction and perpendicular to the support surface.

[0031] Preferably, the plate is a rectangular plate.

[0032] The detection device may include any of the following: optical detection device, proximity detection device, pressure detection device, electrical detection device, magnetic detection device, mechanical detection device, ferrous / non-ferrous metal detection device, or combinations thereof. Examples of suitable detection devices include angle sensors, proximity switches, light sensors, mechanical switches, magnetic switches, cameras, etc. In a preferred embodiment, the detection device includes a first detector and a second detector that perform detection at a first movable element and a second movable element, respectively. However, some detection devices (e.g., cameras) can observe both the first movable element and the second movable element.

[0033] In embodiments where at least one controllable component includes a stamping device, the stamping device may include a drive mechanism configured to arrange one or more penetrating or perforating elements through or within an edge portion of the plate. The drive mechanism may be, for example, a hammer, movably arranged such that it can engage against an edge portion of the plate precursor to arrange one or more penetrating or perforating elements through or within an edge portion of the plate.

[0034] According to another aspect, an apparatus is provided for detecting or positioning the edge of a plate (particularly a printing plate or plate precursor), the apparatus comprising: a support configured to support the plate in a support surface and intended to be located upstream of a processing station; at least one pivotable pin arranged to move through the edge of the plate; a detection device configured to detect at least one measure indicating the position of the at least one pivotable pin, wherein, preferably, the detection device is arranged below the support surface; at least one controllable component configured to perform an action on the plate; and a control device configured to control the at least one controllable component based on the at least one measure. Preferably, the at least one pivotable pin protrudes through the support surface.

[0035] Embodiments with a single pivot pin can provide a simple and robust mechanism for detecting the edge of a plate, and in particular the movement of the edge of the plate as it moves against the pivot pin and optionally above or below the pivot pin.

[0036] Any of the features of the pivoting pin, detection device, controllable component, support, and control device described above may also be used in the embodiments of the previous aspect.

[0037] According to one aspect of the invention, a system is provided, comprising the apparatus of any of the above embodiments and a processing station downstream of a support and configured to receive aligned plates.

[0038] According to an exemplary embodiment, the processing in the processing station is selected from the group consisting of: cleaning, brushing, rinsing, spraying, drying, irradiation, developing, heating, cooling, material removal, treatment with gas or liquid, sanding, cutting, treatment with electromagnetic waves, ablation, measurement, and combinations thereof.

[0039] According to an exemplary embodiment, the processing in the processing station is a heat treatment that produces a liquefied portion of the embossed precursor, followed by contacting the liquefied portion with a mobile acceptor material (e.g., a mesh, nonwoven material, or foil) to which the molten material adheres, and continuously removing the liquefied portion having the acceptor material.

[0040] According to another aspect, a method for aligning edges (typically the leading edge of a board) is provided, the method comprising the following steps:

[0041] - Provide a plate with at least one generally linear edge (typically the leading edge);

[0042] - Connect the board to the moving device;

[0043] - Move the plate above the support surface so that the edge contacts at least two movable elements;

[0044] - Detect the position of at least two movable elements;

[0045] - Control the mobile device based on the detection results.

[0046] The movable element may have any one or more of the features described above. Preferably, the movable element is a pivotable element.

[0047] Preferably, at least two movable elements are arranged such that they protrude through the support surface in the initial positions of the at least two movable elements, wherein, during the moving step, the at least two movable elements move from the initial position to the final position. Alternatively, the at least two movable elements may be arranged above the support surface and may move upwards as they move from the initial position to the final position.

[0048] Optionally, the plate is separated from the moving device when at least two movable elements have been detected to move substantially the same amount due to the leading edge.

[0049] Preferably, the step of controlling the moving device based on the detection results includes rotating and / or translating the plate until the positional difference between the first movable element and the second movable element of at least two movable elements is less than a predetermined threshold.

[0050] Preferably, the plate is a printing plate or a printing plate precursor. However, the method can also be used with other plates, such as printed circuit boards, cardboard, a sheet of metal, or wood.

[0051] Preferably, the moving step includes moving the plate such that the leading edge of the plate contacts at least two movable elements, and the method further includes: supplying the plate to the processing unit when it is detected that the positional difference between the first movable element and the second movable element of the at least two movable elements is less than a predetermined threshold.

[0052] Preferably, when the plate is supplied to the processing unit, at least two movable elements are moved below or far above the support surface to position them above the plate.

[0053] In a possible embodiment, the method further includes centering the plate relative to the inlet of a processing unit disposed downstream of at least two movable elements. Optionally, the at least two movable elements include a first pair of movable elements and a third movable element, and the moving step includes moving the plate against the leading edge of the first pair of movable elements and against the side edge of the third movable element, respectively. This allows for alignment of the leading edges and centering of the plate.

[0054] Another embodiment of the invention aims to provide a system and method for moving a flexographic plate (particularly a printing plate or printing plate precursor) above a support surface along a processing station (e.g., a cleaning station), and more specifically, to provide a system and method that allows the plate to slide above the support surface in an improved manner.

[0055] According to one aspect, a system is provided for moving a flexographic plate (particularly a printing plate or printing plate precursor) above a support surface along a processing station direction. The system includes a support member, an articulated manipulator arm, and a control device. The support member (typically a table) is configured to support a plate on its support surface and is intended to be located upstream of the processing station. The articulated manipulator arm extends generally parallel to the support surface and includes at least a first segment and a second segment. The first segment has: a first end rotatably connected to the second segment about a first axis of rotation generally perpendicular to the support surface; and a second end provided with a plate engagement device configured to contact the plate in such a way that movement of the manipulator arm causes the plate to slide on the support surface. The second segment is rotatable about a second axis of rotation generally perpendicular to the support surface. The control device is configured to control the plate engagement device and to control rotation of the first and second segments of the articulated manipulator arm, causing the plate to slide above the support surface along the processing station direction.

[0056] This articulated manipulator allows the plate to slide above the support surface, i.e., to move, push, or pull, while simultaneously allowing the plate to rotate about a first movable axis of rotation and a second fixed axis of rotation, resulting in any desired movement pattern of the plate. Preferably, the plate is not lifted; rather, it is preferable that the plate engagement device presses the plate against the support surface during the sliding of the plate above the support surface.

[0057] Preferably, the plate joining device is configured to join the first segment to the plate by suction, adhesion, or friction, or a combination thereof. Preferably, the plate joining device rests on the plate by gravity.

[0058] In an exemplary embodiment, the plate-joining device includes one or more suction cups, preferably at least two. In a preferred embodiment, each suction cup has a portion intended to contact the plate, said portion being made of a porous material, preferably porous metal, ceramic, or plastic. Preferably, the portion intended to contact the plate is generally flat.

[0059] In another exemplary embodiment, the plate bonding device includes one or more contact heads, preferably at least two, each head having a contact surface configured to be pressed against a plate. A control device can then be configured to press the one or more contact heads against the plate such that friction and / or adhesion between the one or more contact surfaces and the plate allows the plate to slide over a support surface by means of an operating arm. For example, the contact surfaces can be made of a material that “sticks” to the plate when pressure is applied without leaving a mark on it. For example, a pressure-sensitive adhesive can be attached to the bonding device.

[0060] Preferably, the control device is configured to control the articulated arm to perform approximately 90° rotation while pulling or pushing the plate toward the processing station. This allows the plate's orientation to be changed from a position where its shortest direction points toward the machine transport direction to a position where its longest direction points toward the machine transport direction, and vice versa. This can be particularly useful for large plates, for example, when transporting them from an exposure station to a cleaning station.

[0061] In an exemplary embodiment, the support is a platform with multiple holes, and the system further includes a blowing device configured to blow gas through the holes in the direction of a plate supported on the platform, thereby reducing friction between the plate and the platform. This reduces the force required for the plate to slide over the support surface. Preferably, the blowing occurs across the entire contact surface between the support surface and the plate.

[0062] According to an exemplary embodiment, the support includes a passive ball conveyor comprising a plurality of rotatably mounted balls protruding beyond a support surface. The balls may be arranged along a regular grid, for example, equidistant from each other when viewed in the machine transport direction. Preferably, the distance between adjacent balls is between 5 cm and 50 cm. Preferably, the diameter of the balls is between 5 mm and 50 mm. Preferably, the height of the balls protruding from the support surface is less than 10 mm, preferably less than 5 mm, for example, between 1 mm and 4 mm. Preferably, the support surface between the balls is a flat surface. Preferably, a plate-jointing device rests on the plate by gravity. When the balls are present below the plate-jointing device, the plate-jointing device may move slightly upward as it moves above the balls. However, since the plate is generally compressible, this upward movement is usually negligible.

[0063] According to an exemplary embodiment, the support includes at least a first portion and a second portion, wherein the processing station is a second processing station, and wherein the first processing station is located at the edge of the first portion, wherein the second portion is located downstream of the first portion in the machine transport direction towards the second processing station, wherein the first portion is movable, preferably hinged, so that it can be removed or folded up to allow an operator access to the first processing station. Optionally, the support also includes a third portion located downstream of the second portion, wherein the second processing station is located at the edge of the third portion. The third portion may be movable, preferably hinged, so that it can be removed or folded up to allow an operator access to the second processing station.

[0064] The control device may include a first actuation device for controlling the rotation of the first segment relative to the second segment, and a second actuation device for controlling the rotation of the second segment about a second rotation axis.

[0065] Preferably, the plate engaging device is arranged to be rotatable about a third axis of rotation perpendicular to the support surface. The control device may then include an actuating device configured to rotate the plate engaging device about the third axis of rotation. This allows the plate engaging device to engage with the plate in any desired direction, which can improve the force applied to the plate while allowing the plate to slide above the support surface. For example, when the plate engaging device includes two or more contact heads or suction cups arranged on a bracket, this allows positioning such that the bracket is perpendicular to the machine transport direction.

[0066] Preferably, at least the plate engaging device is movable between a contact position and a non-contact position in a direction perpendicular to the support surface. In the contact position, the plate engaging device is in contact with the plate, and in the non-contact position, the plate engaging device is located a distance above the plate. In an exemplary embodiment, only the plate engaging device is movable, not the arm segment. In another embodiment, the entire manipulator arm may be movable in a direction perpendicular to the support surface. The control device may then include an actuation device configured to move at least the plate engaging device and optionally move the entire manipulator arm between the contact position and the non-contact position.

[0067] According to an exemplary embodiment, the control device is configured to control the operating arm in a first operating mode, such that the following sequence of steps is performed:

[0068] - Connect the plate joining device to the plate at the first position on the plate;

[0069] - Move the plate according to a first trajectory; the first trajectory can be, for example, a generally linear movement;

[0070] - Separate the plate bonding device from the plate;

[0071] - The plate joining device is attached to the plate in a second position different from the first position;

[0072] - Move the plate according to the second trajectory; optionally, the movement of the plate according to the second trajectory involves a rotation of the plate at approximately 90 degrees.

[0073] This operating mode may be preferred for large plates that need to be rotated.

[0074] The first position can be near the leading edge of the plate, preferably approximately at the middle of the leading edge. The second position can be located on one side of the centerline of the plate, preferably in the quarter closest to the second axis of rotation, for example, the front quarter. By selecting such positions, the force will be well distributed when, for example, the first trajectory is a linear movement in the machine transport direction and the second trajectory is rotation.

[0075] According to an exemplary embodiment, the control device is configured to control the operating arm in another operating mode, such that the following sequence of steps is performed:

[0076] - Connect the plate joining device to the plate;

[0077] - Move the plate according to the trajectory involving rotation and / or translation;

[0078] - Separate the plate bonding device from the plate.

[0079] In other words, the plate can also be moved continuously without changing the connection position. This operating mode may be preferred, especially for smaller plates or for linear movement.

[0080] Preferably, the control device is configured to control the operating arm according to the size of the plate. For example, the control device may be configured to determine whether the plate is larger than a predetermined size, and if the plate is determined to be larger than the predetermined size, execute the step sequence of the first operating mode described above, and if the plate is determined not to be larger than the predetermined size, execute the step sequence of the other operating mode described above.

[0081] In an exemplary embodiment, the system further includes a detection component configured to detect a measurement of the position of the display panel, wherein the control device is configured to control the rotation of the panel engagement device and / or the first and / or second segments based on the measurement detected by the detection component. The detection component may be configured to detect whether the panel is correctly aligned at the entrance of the processing station. For example, embodiments of the device having the movable element described above may be used for this purpose.

[0082] Preferably, the articulated manipulator and control device are configured to move a plate having a weight between 6 kg and 30 kg, i.e., a relatively heavy plate resting on a support surface during movement.

[0083] According to another aspect, a method is provided for moving a flexographic plate (particularly a printing plate or printing plate precursor) above a support surface along a processing station (e.g., a cleaning station), the method comprising the following steps:

[0084] - Support the plate on the support surface located upstream of the processing station;

[0085] - A sliding plate is used above a support surface using an articulated manipulator arm that extends substantially parallel to the support surface and includes at least a first segment having a plate engaging device and a second segment rotatably connected to the first segment about a first axis of rotation substantially perpendicular to the support surface, the second segment being rotatable about a second axis of rotation substantially perpendicular to the support surface; wherein, preferably, the plate engaging device engages the plate by friction, adhesion and / or by suction.

[0086] - Control the rotation of the first and second segments of the articulated manipulator arm so that the plate slides above the support surface along the direction of the processing station.

[0087] In an exemplary embodiment, the control steps are performed such that the following sequence of steps is executed: attaching a plate engagement device to the plate at a first position of the plate; moving the plate according to a first trajectory; disengaging the plate engagement device from the plate; attaching the plate engagement device to the plate at a second position of the plate different from the first position; and moving the plate according to a second trajectory. Preferred features related to this sequence have been explained above with respect to embodiments of the system and are also applicable to the method.

[0088] In an exemplary embodiment, the control step is performed such that the following sequence of steps is executed: attaching the plate joining device to the plate; moving the plate according to a trajectory involving rotation and / or translation of the plate; and separating the plate joining device from the plate.

[0089] Preferably, the control steps involve controlling the manipulator based on the size of the plate. For example, if the plate is larger than a predetermined size, a first step sequence can be executed, and if it is determined that the plate is not larger than the predetermined size, a second step sequence can be executed.

[0090] Optionally, the method further includes a step of detecting a measurement of the position of the display panel, wherein the control step includes controlling the rotation of the first segment and / or the second segment based on the detected measurement. Detection may include detecting whether the panel is correctly aligned at the entrance of the processing station. Attached Figure Description

[0091] The accompanying drawings are used to illustrate currently preferred, non-limiting exemplary embodiments of the apparatus, system, and method of the present invention. The above and other advantages of the features and objects of the invention will become more apparent from the following detailed description, and the invention will be better understood, when read in conjunction with the accompanying drawings, in which:

[0092] Figure 1 This is a schematic perspective view of an exemplary embodiment of a system for moving printing plates;

[0093] Figure 2 This is a schematic perspective view of an exemplary embodiment of another system for moving a printing plate, wherein the operating arm is positioned for rotating the plate;

[0094] Figure 3 yes Figure 2 A very schematic top view of an exemplary embodiment, illustrating the trajectory followed by the large print plate;

[0095] Figure 4 yes Figure 2 Another schematic perspective view of an exemplary embodiment, wherein the operating arm is positioned for attachment to the small plate;

[0096] Figure 5 yes Figure 4 A very schematic top view of an exemplary embodiment illustrates the trajectory followed by the small printlet;

[0097] Figure 6A and Figure 6B These are perspective views of the plate joining device located at the upper and lower positions, respectively.

[0098] Figure 7A and Figure 7B A top view and a cross-section of a portion of the table are shown, respectively, as examples of an exemplary embodiment of the table;

[0099] Figures 8A to 8C A perspective view illustrating an exemplary embodiment of a plate moved by means of a device for aligning the leading edge of the plate;

[0100] Figure 9 This is a schematic perspective view of an exemplary embodiment of a device for aligning the leading edge of a plate;

[0101] Figure 10 A schematic top view of another embodiment of a device for aligning and / or centering plates; and

[0102] Figure 11 This is a schematic side view of another exemplary embodiment of a device for aligning the leading edge of a plate. Detailed Implementation

[0103] Figure 1 An example is illustrated of a system for moving a flexographic plate P (particularly a printing plate or printing plate precursor) above a support surface 106 from a first processing station S1 (schematically shown as a rectangle) along a second processing station S2 (schematically shown as a rectangle) (e.g., a cleaning station). The system includes a support 100, an articulated operating arm 200, and control devices 410, 420, and 430. The support 100 (typically a table) is configured to support the plate P on the support surface 106 of the table 100. The table 100 is located upstream of the second processing station S2. The articulated operating arm 200 extends generally parallel to the support surface 106 and includes at least a first segment 210 and a second segment 220. The first segment 210 has: a first end 211 rotatably connected to the second segment 220 about a first rotation axis A1 substantially perpendicular to the support surface 106; and a second end 212 provided with a plate engagement device 250 configured to contact the plate P in such a way that movement of the operating arm 200 causes the plate P to slide on the support surface 106. The second segment 220 is rotatable about a second rotation axis A2 substantially perpendicular to the support surface 106. Control devices 410, 420, and 430 are configured to control the plate engagement device and to control the rotation of the first segment 210 and the second segment 220 of the articulated operating arm 200, causing the plate to slide above the support surface 106 in the direction of the second processing station S2. Using the arm 200, the plate P can slide above the support surface 106, i.e., move, push, or pull, while the plate P can rotate about the first movable rotation axis A1 and the second fixed rotation axis A2, resulting in any desired movement pattern of the plate. Preferably, during the sliding of the plate over the support surface 106, the weight of the plate engagement device 250 rests on the support surface 106, and thus exerts a downward force on the plate P.

[0104] Preferably, the plate joining device 250 is configured to join the first segment to the plate by suction, adhesion, or friction, or a combination thereof. Preferably, the plate joining device rests on the plate by gravity.

[0105] In the illustrated embodiment, the support includes a first section 110, a second section 120, and a third section 130. A first processing station S1 is located at the edge of the first section 110. The second section 120 is located downstream of the first section 110, as seen in the machine transport direction toward the second processing station S2. The first section 110 is hinged about a pivot axis AT1, allowing it to be folded up to allow operator access to the first processing station S1. The third section 130 is located downstream of the second section 120, and the second processing station S2 is located at the edge of the third section 130. The third section 130 is hinged about a pivot axis AT3, allowing it to be folded up to allow operator access to the second processing station S2.

[0106] The control device includes a first actuation device 410 for controlling the rotation of the first segment 210 relative to the second segment 220, and a second actuation device 420 for controlling the rotation of the second segment 220 about a second rotation axis A2. The plate engagement device 250 is arranged to be rotatable about a third rotation axis A3 perpendicular to the support surface 106. The control device includes an actuation device 430 configured to rotate the plate engagement device 250 about the third rotation axis A3. This allows the plate engagement device 250 to engage with the plate P in any desired direction, which can improve the force applied to the plate while allowing the plate to slide above the support surface 106.

[0107] The plate engaging device 250 or the entire arm 200 may be movable between a contact position and a non-contact position in a direction perpendicular to the support surface 106. In the contact position, the plate engaging device 250 is in contact with the plate, and in the non-contact position, the plate engaging device 250 is positioned a distance above the plate. The control device may then include an actuation device (not shown) configured to move at least the plate engaging device 250 between the contact and non-contact positions, and optionally move the entire operating arm 200 between the contact and non-contact positions.

[0108] Figure 2 Examples of the same Figure 1 Similar exemplary embodiments are described above, wherein the same or similar parts are indicated by the same reference numerals. Figure 2 An example is illustrated where the control device can be configured to control the articulated arm 200 such that, while pulling or pushing the plate P from the first processing station S1 to the second processing station S2, the plate P is rotated at approximately 90°. Figure 2The diagram shows a large plate P. The orientation of this plate P changes from its shortest direction pointing in the machine transport direction when it leaves station S1 to its longest direction pointing in the machine transport direction when it enters station S2. For example, the first station S1 could be an exposure station, and the second station S2 could be a cleaning station.

[0109] Figure 3 Examples Figure 2 An example of a first operating mode of an embodiment, wherein the following sequence of steps is performed:

[0110] -At the first position LC1 on the plate (see...) Figure 3 Position of the left-side plate 1) Connect the plate joining device 250 to plate P;

[0111] -The moving plate P moves according to the first trajectory T1, which is approximately linear in this case;

[0112] - Separate the plate joining device 250 from the plate; this is done at the second position 2 of the plate;

[0113] - The plate joining device 250 is connected to the plate in a second position LC2, which is different from the first position, while the plate is still in the second position 2;

[0114] -The plate is moved according to the second trajectory T2, which includes rotating the plate approximately 90 degrees, see [reference] Figure 3 Examples are positions 3 and 4.

[0115] This operating mode can be used for large plates P that require rotation.

[0116] The first position LC1 is located near the leading edge LE of plate P, preferably approximately in the middle of the leading edge LE. The second position LC2 is located on one side of the center lines L1 and L2 of the plate, preferably in the first quarter Q closest to the second axis of rotation A2 (see [reference]). Figure 2 By choosing such a location, the force will be well distributed.

[0117] Figure 4 Examples of different positions of the manipulator 200 are shown. Figure 4 Examples of implementations. Figure 2 An example is shown where the control device can be configured to control the articulated arm 200 such that, for the small plate P, only one suction device of the plate engagement device 250 is used (see also the following description). Figure 6A and Figure 6B (Description).

[0118] Figure 5 Examples Figure 2 and Figure 4 An example of a second operating mode of an embodiment, wherein the following sequence of steps is performed:

[0119] - Connect the plate bonding device to the plate, see [link / reference] Figure 5 The plate is positioned at position 1'.

[0120] - Move the plate according to the trajectory involving the plate's rotation and translation; see also Figure 5 The plate positions are 2' and 3' in the middle;

[0121] - Separate the plate bonding device from the plate, see Figure 5 The plate is positioned at position 4'.

[0122] In other words, here, plate P moves continuously without changing its connection position. This operating mode may be preferred, especially for smaller plates.

[0123] Preferably, the control device is configured to control the operating arm 200 according to the size of the plate P. For example, the control device may be configured to determine whether the plate is larger than a predetermined size, and to perform actions when it is determined that the plate is larger than the predetermined size. Figure 3 The sequence of steps, and execution is performed when it is determined that the plate is not larger than a predetermined size. Figure 5 The sequence of steps.

[0124] Figure 6A and Figure 6B An exemplary embodiment of a suitable plate-joining device 250 is illustrated. The plate-joining device 250 includes a bracket 253 on which two suction cups 251, 252 are arranged. In a preferred embodiment, each suction cup 251, 252 has a portion with a flat lower side intended to contact the plate and is made of a porous material (e.g., porous metal, ceramic, or plastic). However, as set forth in the summary of the invention, other plate-joining devices 250 may also be used. For example, the suction cups 251, 252 may be replaced by two contact heads, each head having a contact surface configured to press against the plate. A control device may then be configured to press one or more contact heads against the plate such that friction and / or adhesion between the heads and the plate allows the plate to slide over the support surface 106 by means of an operating arm 200.

[0125] exist Figure 6A and Figure 6B In this configuration, the plate engaging device 250 is movable between a contact position and a non-contact position in a direction perpendicular to the support surface 106. In the contact position, the plate engaging device 250 is in contact with the plate, and in the non-contact position, the plate engaging device 250 is positioned a distance above the plate. The control device includes an actuation device 440 configured to move the plate engaging device 250 between the contact position and the non-contact position.

[0126] exist Figures 1 to 5In one embodiment, the support platform 100 may have a plurality of holes (not shown), and the system may further include a blowing device (not shown) configured to blow gas through the holes in the direction of the plate P supported on the platform 100, thereby reducing friction between the plate P and the platform 100. This reduces the force required for the plate to slide above the support surface 106. Alternatively or alternatively, such as Figure 7A and Figure 7B For example, table 100 may include a passive ball conveyor comprising a plurality of rotatably mounted balls 105 protruding beyond a support surface 106. The plurality of balls 105 may be arranged along a regular grid, for example, equidistant from each other when viewed in the machine's transport direction. Preferably, the distance between adjacent balls 105 is between 5 cm and 50 cm. Preferably, the diameter of the plurality of balls 105 is between 5 mm and 50 mm. Preferably, the height of the plurality of balls 105 protruding from the support surface 106 is less than 10 mm, preferably less than 5 mm, for example, between 1 mm and 4 mm. Preferably, the support surface 106 between the plurality of balls 105 is a flat surface.

[0127] Optionally, Figure 1 The system up to Figure 6 also includes a detection component configured to detect measurements of the position of the display panel, and a control device configured to control the rotation of the panel engagement device 250 and / or the first segment 210 and / or the second segment 220 based on the measurements detected by the detection component. The detection component may be configured to detect whether the panel is correctly aligned at the entrance of the second processing station S2. Possible embodiments of the detection component will be described below.

[0128] Preferably, the articulated operating arm 200 and the control devices 410, 420, 430, 440 are configured to move a plate having a weight between 6 kg and 30 kg, i.e., a relatively heavy plate resting on the support surface 106 during movement.

[0129] Figures 8A to 8C and Figure 9 A first exemplary embodiment of a device for aligning the edges of a plate P (particularly a printing plate or printing plate precursor) is illustrated. Figures 8A to 8C The sequential method steps are illustrated. Figure 9 A partially cut perspective view is shown to better illustrate the movable elements 501, 502 of the device. The device includes a support 100 (a platform in this case), two movable elements 501, 502, detection devices 601, 602, and at least one controllable component 200 (e.g., Figure 1 To the manipulator 200 illustrated in Figure 6) and control device 700. Support 100 is configured to support a plate in support surface 106 and is intended to be located at a processing station (e.g., Figure 1 and Figure 2Upstream of the second station (S2) schematically illustrated in the diagram. Two movable elements 501, 502 are arranged to move via the leading edge LE of the plate P. The two movable elements include a first movable element 501 and a second movable element 502. Detection devices 601, 602 are configured to detect a first measurement and a second measurement, respectively representing a first position and a second position of the first movable element and the second movable element. At least one controllable component 200 (e.g., a moving device) is configured to perform an action on the plate. A control device 700 is configured to control at least one controllable component based on the first measurement and the second measurement. For example, the movement of the plate P can be controlled by the control device according to the first measurement and the second measurement measured by the detection devices 601, 602. For example, the moving device 200 can be configured to rotate the plate about an axis perpendicular to the support surface 106 to improve alignment, and the plate can be determined to be aligned once the difference between the first measurement and the second measurement is below a predetermined threshold.

[0130] The moving device 200 can be configured to rotate the plate about an axis perpendicular to the support surface 106 and translate the plate parallel to the support surface 106. Then, the control device can be configured to first translate and / or rotate the plate until the edge contacts at least two movable elements, then further rotate the plate until the difference between the first measurement and the second measurement is below a predetermined threshold, then further translate the plate above or below the at least two movable elements.

[0131] Movable elements 501 and 502 are arranged such that they protrude through the support surface 106 at their initial positions Ps. This embodiment has the advantages that the movable elements do not obstruct other components, and that detection can be performed below the support surface 106.

[0132] exist Figures 8A to 8C and Figure 9 In this embodiment, movable elements 501 and 502 are two pivotable pins arranged to pivot via the edge of the plate. The pivotable elements are easily mounted in the support such that they protrude through the support surface 106, or mounted above the support, and the pivot angle of the pivotable elements is a direct and accurate measure of the position of the contact point with the edge. Detection devices 601 and 602 are configured to detect a first measurement and a second measurement representing a first angle and a second angle of the first pivotable pin 501 and the second pivotable pin 502. The pivotable pins 501 and 502 extend partially below and partially above the support surface 106 in the initial position Ps, and the detection devices 601 and 602 (e.g., angle detection devices) are positioned below the support surface 106, where they are unaffected by measurement interference factors.

[0133] At the initial position Ps before contact with the edge of the plate, at least two pins 501 and 502 are oriented in the upstream direction Du, see [reference]. Figure 8A and Figure 9 Preferably, the pin is at an angle between 15 and 75 degrees relative to the support surface 106. Thus, for example, the pin can gradually move from a starting position Ps where the pin points upstream in the direction Du to a position perpendicular to the support surface 106, and then to an ending position Pe where the pin is oriented downstream in the direction Dd and the plate can move above the pin. See [reference needed]. Figure 8C and Figure 9 .

[0134] A biasing device (here, a counterweight 505 attached to each of the pivotable pins 501, 502) is configured to apply force to the edge of the plate in the upstream direction Du. An optional additional biasing device (here, a piston 520) is provided to force the pivotable pins 501, 502 to a stop position Pe, for example, when the pins are not in use. Preferably, the stop position Pe is located below the support surface 106 to avoid damage.

[0135] Pivotable pins 501 and 502 are pivotally arranged around pivot axis A, which is located at a distance greater than 5 cm below or above support surface 106, preferably at a distance d greater than 10 cm below or above support surface 106. This allows plate P to move a relatively large distance above support surface 106 while maintaining contact with pivottable pins 501 and 502. This further improves the alignment accuracy of the plate.

[0136] The support member 100 is a support platform with two slits 101 and 102 through which two pivot pins 501 and 502 protrude. The slits 501 and 502 are elongated slits, the dimensions of which are designed to allow the pivot pins to move from a starting position Ps in the upstream direction Du to a position in the downstream direction Dd, and optionally to an ending position Pe where the pin is below or flush with the support surface 106.

[0137] Each pivotable pin includes a first elongated portion 510 and a second elongated portion 511, wherein the second elongated portion 511 forms an angle between 120 and 175 degrees relative to the first elongated portion 510. The second elongated portion 511 extends at least partially above the support surface 106 when in the initial position Ps, while the first elongated portion 510 extends below the support surface 106. This allows for a reduced slit length while still allowing pins 501 and 502 to be concealed within the support 100.

[0138] Optionally, such as Figure 9 As shown, the support 100 can be configured such that the support surface 106 is an inclined surface, for example when the processing station downstream of the movable elements 501, 502 is a cleaning station.

[0139] Optionally, at least one controllable component includes any one or more of the following devices: a moving device, a stamping device, a plate connecting device, and a plate gripping device. The moving device 200 may be a manipulator as described above, but may also include any one or more of the following devices: at least one robotic arm, a set of rollers, a set of chains, and a set of belts.

[0140] Preferably, the control device 700 is configured to compare a first measurement and a second measurement, and determine that the edge of the board is aligned or the board is centered when the difference between the first measurement and the second measurement is less than a predetermined threshold.

[0141] Preferably, the distance between the first movable element 501 and the second movable element 502 is in the range of 10cm to 1000cm, more preferably in the range of 10cm to 500cm, and more preferably in the range of 10cm to 100cm.

[0142] Figure 10 An exemplary embodiment is illustrated in top view, having two movable elements 501, 502 for aligning the leading edge of a plate moving in the machine transport direction, and one or both additional movable elements 503, 504 for centering the plate in a direction perpendicular to the machine transport direction. It should be noted that only one of the movable elements 503, 504 may be used. Here, the movable elements 501, 502 are pivotable pins that pivot in a plane parallel to the machine transport direction and perpendicular to the support surface 106, while one or more additional pins 503, 504 for centering the plate can pivot in a plane perpendicular to the machine transport direction and perpendicular to the support surface 106. More generally, the pivotable pin 501 can be oriented in any suitable direction depending on the detection to be performed.

[0143] Figure 11 Another exemplary embodiment of an apparatus for detecting or positioning a plate P (particularly a printing plate or plate precursor) is illustrated. The apparatus includes a support 100 (here, a table), a pivotable pin 501, a detection device 601 (e.g., an angle detector), a controllable component 200, and a control device 700. The support 100 is configured to support the plate on a support surface. The pivotable pin 501 is arranged to move by the edge of the plate P. The detection device 601 is configured to detect a measurement indicating the position of the pivotable pin 501. The controllable component 200 (e.g., a moving device) is configured to perform an action on the plate. The control device 700 is configured to control the controllable component based on the measurement. For example, the moving device 200 may be configured to translate the plate within the support surface and / or rotate the plate about an axis perpendicular to the support surface 106 according to the measurement. In this example, the pin 501 is arranged with its pivot axis above the support surface, and the detection also occurs above the support surface. However, the detection device 601 may also be positioned below the surface. Figures 8A to 8C As in the previous embodiment, when the edge of plate P contacts pin 501, it moves from the starting position Ps to the ending position Pe. Here, the ending position Pe is a position above support 100, high enough for plate P to pass underneath. Optionally, a biasing device (not shown) may be provided to bias pin 501 at either the starting position Ps or the ending position Pe.

[0144] Examples of suitable detection devices 601, 602 include angle sensors, proximity switches, light sensors, mechanical switches, magnetic switches, cameras, etc. In a preferred embodiment, the detection device includes a first detector 601 and a second detector 602 that perform detection at the first movable element and the second movable element, respectively. However, some detection devices (e.g., cameras) can observe both the first movable element and the second movable element.

[0145] Figure 8 to Figure 11 The apparatus can be used in systems that also include a processing station downstream of the support and configured to receive aligned plates. The processing in the processing station can be selected from the group consisting of: cleaning, brushing, rinsing, spraying, drying, irradiation, developing, heating, cooling, material removal, treatment with gas or liquid, sanding, cutting, treatment with electromagnetic waves, ablation, measurement, and combinations thereof.

[0146] A letterpress precursor typically comprises a support layer made of a first material and an additional layer made of a second material different from the first material. The support layer can be a flexible metal, a natural or synthetic polymer, paper, or a combination thereof. Preferably, the support layer is a flexible metal or polymer film or sheet. In the case of a flexible metal, the support layer can comprise a thin film, a sieve structure, a mesh structure, a woven or nonwoven structure, or a combination thereof. Steel, copper, nickel, or aluminum plates are preferred and can be from about 50 μm to 1000 μm thick. In the case of a polymer film, the film is dimensionally stable but flexible and can be made, for example, of polyalkylene, polyester, polyethylene terephthalate, polybutylene terephthalate, polyamide, and polycarbonate, polymers reinforced with woven, nonwoven, or layered fibers (e.g., glass fiber, carbon fiber, polymer fiber), or a combination thereof. Preferably, polyethylene and polyester foil are used, and their thickness can range from about 100 μm to 300 μm, preferably from 100 μm to 200 μm.

[0147] The letterpress precursor can carry additional layers. For example, the additional layer can be any of the following: a directly engraved layer (e.g., by laser), a solvent- or water-developable layer, a thermally developable layer, a photosensitive layer, or a combination of a photosensitive layer and a mask layer. Optionally, one or more additional layers can be disposed on top of the additional layers. Such one or more additional layers can include a cover layer on top of all other layers, which is removed before imaging the imageable layer. The one or more additional layers can include a letterpress layer and an anti-halation layer between the support layer and the letterpress layer, or on the side of the support layer opposite the letterpress layer. The one or more additional layers can contain a letterpress layer, an imageable layer, and one or more barrier layers between the letterpress layer and the imageable layer, the barrier layers preventing oxygen diffusion. One or more adhesive layers can be positioned between the aforementioned different layers to ensure proper adhesion between the different layers.

[0148] Although the principles of the invention have been described above with reference to specific embodiments, it should be understood that this description is by way of example only and not as a limitation on the scope of protection defined by the appended claims.

Claims

1. A system for moving a flexible plate (P) above a support surface along a processing station (S2), the system comprising: - A support member (100) is configured to support a plate as the flexible plate (P) on its support surface and is intended to be located upstream of the processing station; - An articulated manipulator (200) extends parallel to the support surface and includes at least a first segment (210) and a second segment (220). -The first segment (210) has: - A first end (211), which is rotatably connected to the second segment about a first axis of rotation (A1) perpendicular to the support surface; and - The second end (212) is provided with a plate engagement device (250) configured to contact the plate in such a way that movement of the operating arm causes the plate to slide on the support surface; - The second segment (220) is rotatable about a second axis of rotation (A2) perpendicular to the support surface; - A control device configured to control the plate engagement device and to control the rotation of the first and second segments of the articulated manipulator arm, such that the plate slides above the support along the direction of the processing station.

2. The system according to claim 1, wherein, The plate joining device is configured to join the first segment to the plate by suction, adhesion, or friction, or a combination thereof.

3. The system according to claim 1 or 2, wherein, The control device is configured to control the articulated manipulator arm to perform a 90° rotation while pulling or pushing the plate toward the processing station.

4. The system according to claim 1 or 2, wherein, The plate joining device includes one or more suction cups (251, 252).

5. The system according to claim 1 or 2, wherein, The plate engagement device includes one or more contact heads, each having a contact surface configured to be pressed against the plate, wherein the control device is configured to press the one or more contact heads against the plate such that friction and / or adhesion between the one or more contact surfaces and the plate allows the plate to slide over the support surface by means of the operating arm.

6. The system according to claim 1, wherein, The support is a platform with multiple holes, and the system also includes a blowing device configured to blow gas through the holes in the direction of a plate supported on the platform, so as to reduce friction between the plate and the platform.

7. The system according to claim 1, wherein, The support includes a passive ball conveyor comprising a plurality of rotatably mounted balls that protrude beyond the support surface.

8. The system according to the preceding claim, wherein, The distance between adjacent balls in the plurality of balls is between 5 cm and 50 cm, and / or wherein, The diameter of the plurality of spheres is between 5 mm and 50 mm, and / or the height by which the plurality of spheres protrude from the support surface is less than 10 mm.

9. The system according to claim 1, wherein, The support includes at least a first part (110) and a second part (120), wherein the processing station is a second processing station, and wherein the first processing station is located at the edge of the first part, wherein the second part is located downstream of the first part in the machine transport direction toward the second processing station, wherein the first part is movable so that it can be removed or folded up to allow an operator to enter the first processing station.

10. The system according to the preceding claim, wherein, The support also includes a third section (130) located downstream of the second section, wherein the second processing station is located at the edge of the third section, wherein the third section is movable so that it can be removed or folded up to allow an operator to access the second processing station.

11. The system according to claim 1, wherein, The control device includes a first actuation device (410) for controlling the rotation of the first segment relative to the second segment, and a second actuation device (420) for controlling the rotation of the second segment about the second rotation axis (A2).

12. The system according to claim 1, wherein, The plate joining device is arranged to be rotatable about a third rotation axis (A3) perpendicular to the support surface.

13. The system according to the preceding claim, wherein, The control device includes an actuation device (430) configured to rotate the plate engagement device (250) about the third rotation axis (A3).

14. The system according to claim 1, wherein, At least the plate joining device is movable between a contact position and a non-contact position in a direction perpendicular to the support surface. In the contact position, the plate joining device is in contact with the plate, and in the non-contact position, the plate joining device is located at a distance above the plate.

15. The system according to the preceding claim, wherein, The control device includes an actuation device (440) configured to move at least the plate engagement device (250) between the contact position and the non-contact position.

16. The system according to claim 1, wherein, The control device is configured to control the operating arm to perform the following sequence of steps: - The plate joining device is attached to the plate at the first position (LC1) of the plate; - Move the plate according to the first trajectory (T1); - Separate the plate joining device from the plate; - The plate joining device is attached to the plate at a second position (LC2) different from the first position; - Move the plate according to the second trajectory (T2).

17. The system according to the preceding claim, wherein, The plate moves linearly according to the first trajectory (T1).

18. The system according to any one of claims 16 to 17, wherein, The movement of the plate according to the second trajectory (T2) involves a rotation of the plate at 90 degrees.

19. The system according to claim 16, wherein, The first position (LC1) is a position close to the leading edge (LE) of the plate.

20. The system according to claim 16, wherein, The second position (LC2) is located on one side of the centerline (L1) of the plate.

21. The system according to claim 1, wherein, The control device is configured to control the operating arm to perform the following sequence of steps: - Connect the plate joining device to the plate; - Move the plate according to a trajectory involving rotation and / or translation of the plate; - Separate the plate joining device from the plate.

22. The system according to claim 1, wherein, The control device is configured to control the operating arm according to the size of the plate.

23. The system according to the preceding claim, wherein, The control device is configured to determine whether the plate is larger than a predetermined size, and to perform the sequence of steps according to any one of claims 16 to 20 when it is determined that the plate is larger than the predetermined size, and to perform the sequence of steps according to claim 21 when it is determined that the plate is not larger than the predetermined size.

24. The system according to claim 1, wherein, It also includes a detection component configured to detect a measurement indicating the position of the plate, wherein the control device is configured to control the rotation of the plate engagement device and / or the first segment and / or the second segment based on the measurement detected by the detection component.

25. The system according to the preceding claim, wherein, The detection component is configured to detect whether the plate is correctly aligned at the entrance of the processing station.

26. The system according to claim 1, wherein, The articulated manipulator and the control device are configured to move a plate with a weight between 6 kg and 30 kg.

27. A method for moving a flexible plate (P) above a support surface along a processing station (S2), the method comprising the steps of: - The plate serving as the flexible plate (P) is supported on a support surface located upstream of the processing station; - The plate is slid over the support surface using an articulated manipulator (200), the articulated manipulator extending parallel to the support surface and including at least a first segment (210) having a plate engagement device (250) and a second segment (220) rotatably connected to the first segment about a first rotation axis (A1) perpendicular to the support surface, the second segment (220) being rotatable about a second rotation axis (A2) perpendicular to the support surface; - Control the rotation of the first and second segments of the articulated manipulator arm so that the plate slides above the support surface along the direction of the processing station.

28. The method according to the preceding claim, wherein, The plate joining device joins the plates by friction, adhesion and / or by suction.

29. The method according to claim 27, wherein, The control steps are performed to cause the execution of the following sequence of steps: - The plate joining device is attached to the plate at the first position (LC1) of the plate; - Move the plate according to the first trajectory (T1); - Separate the plate joining device from the plate; - The plate joining device is attached to the plate at a second position (LC2) different from the first position; - Move the plate according to the second trajectory (T2).

30. The method according to the preceding claim, wherein, The plate moves linearly according to the first trajectory (T1).

31. The method according to any one of claims 29 to 30, wherein, The movement of the plate according to the second trajectory (T2) involves a rotation of the plate at 90 degrees.

32. The method according to claim 29, wherein, The first position (LC1) is a position close to the leading edge (LE) of the plate.

33. The method according to claim 29, wherein, The second position (LC2) is located on one side of the centerline (L1) of the plate.

34. The method according to claim 27, wherein, The control steps are performed to cause the execution of the following sequence of steps: - Connect the plate joining device to the plate; - Move the plate according to a trajectory involving rotation and / or translation of the plate; - Separate the plate joining device from the plate.

35. The method according to claim 27, wherein, The control steps involve controlling the manipulator arm according to the dimensions of the plate.

36. The method according to the preceding claim, wherein, Determine whether the plate is larger than a predetermined size, wherein when it is determined that the plate is larger than the predetermined size, the sequence of steps according to any one of claims 29 to 33 is performed, and when it is determined that the plate is not larger than the predetermined size, the sequence of steps according to claim 34 is performed.

37. The method of claim 27, wherein, It also includes the step of detecting a measure representing the position of the plate, wherein the control step includes controlling the rotation of the first segment and / or the second segment based on the detected measure.

38. The method according to claim 37, wherein, The detection includes checking whether the plate is correctly aligned at the entrance of the processing station.

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