Machine for the automated transfer of a liner material from a first support to a second support

Abstract

The invention relates to a machine (10) for the automated transfer of a liner material (T) from a first support (12) to a second support (14), said machine comprising a receiving shaft (A12) receiving the first support (12), a receiving shaft (A14) receiving the second support (14), and an automated gripping device (18) for gripping the end (E) of the liner material (T), the automated gripping device (18) comprising a system for detecting the end (E) of the liner material and a gripper (21) comprising gripping elements (22) for gripping the end (E) of the liner material (T), the automated gripping device (18) comprising a robotic arm (24) for moving the gripper (21) around the second support in order to create a re-entrant angle between the liner material and the second support, and the gripper (21) comprising a press roller (26).

Description

AUTOMATED TRANSFER MACHINE FOR AN INTERLAYER FABRIC FROM A FIRST SUPPORT TO A SECOND SUPPORT TECHNICAL FIELD

[0001] The present invention relates to the winding of a product with an interlayer fabric on a cylindrical support called a roll.

[0002] Some products, such as fabrics calendered in a rubber mixture and used in the manufacture of tires, have a certain amount of adhesion and need to be wound onto a roll using a fabric. The interlayer fabric prevents the different windings of the product from adhering to each other and thus facilitates unwinding and therefore subsequent use of the wound product, particularly for the manufacture of tire blanks. PREVIOUS ART

[0003] There are various machines for wrapping a product on a roll with an interlayer fabric.

[0004] For example, we know the machine described in application WQ2021078500.

[0005] In the machine described in application WQ2021078500, the interlayer fabric is automatically wound from a roll 104 to a reel 200 using a tilting arm 108 equipped with a clamp. However, before this automated winding, it is necessary for an operator to correctly position the interlayer fabric relative to the tilting arm and its clamp.

[0006] Therefore, the machine described in application WQ2021078500 does not offer a fully automated solution for transferring an interlayer fabric from one cylindrical support to another cylindrical support. SUMMARY OF THE INVENTION

[0007] The first objective of the present invention is to overcome the drawbacks of the machines of the prior art by proposing a completely automated solution for transferring an interlayer fabric from a first cylindrical support to another cylindrical support.

[0008] Advantageously, the machine according to the invention is adaptable to an installation in which the two cylindrical supports are supported at each of their ends by a frame.

[0009] To this end, the invention relates to an automated transfer machine for an interlayer fabric from a first support to a second support, said machine comprising: - a first axis for receiving the first support on which the interlayer fabric is wound and from which it must be unwound, and - a second axis for receiving the second support on which the interlayer fabric from the first support must be wound.

[0010] According to the invention, the machine comprises: - an automated device for gripping the end of the interlayer fabric wound on the first support, - the automated gripping device comprising a system for detecting the end of the interlayer fabric wound on the first support and a gripper comprising gripping elements for gripping the end of the interlayer fabric wound on the first support, - the automated gripping device comprising a robotic arm making it possible to position the gripper under the first support in a position for gripping the end of the interlayer fabric wound on this first support and to move the gripper around the second support to a position for releasing the end of the interlayer fabric, the movement of the gripper around the second support making it possible to wrap the interlayer fabric around the second support and to create a re-entrant angle between the interlayer fabric and the second support, and the gripper making it possible to release the end of the interlayer fabric towards this re-entrant angle when the gripper is in its position for releasing the end of the interlayer fabric, - the gripper comprising a pressure roller for pressing the interlayer fabric onto the second support upstream of the end of the interlayer fabric gripped by the gripping elements of the gripper when the gripper is in its position for releasing the end of the interlayer fabric.

[0011] Advantageously but not necessarily, the invention may also provide that: - the gripper comprising a frame on which the elements for gripping the end of the interlayer fabric and the pressure roller are mounted, the gripping elements are located at the front of the gripper when the gripper is in its position for releasing the end of the interlayer fabric, and the pressure roller is located under the frame of the gripper when the gripper is in its position for releasing the end of the interlayer fabric, - the distance between the pressure roller and the gripping elements is greater than the distance between the pressure roller and the re-entrant angle when the gripper is in its position for releasing the end of the interlayer fabric, - the gripper comprises, in addition to the pressure roller, a blade for guiding the end of the interlayer fabric in the re-entrant angle, this guide blade extending towards the re-entrant angle and having a guide surface parallel to the portion of interlayer fabric which extends between the first support and the second support when the gripper is in its position for releasing the end of the interlayer fabric, - the gripper comprises, in addition to the guide blade, a smoothing blade extending in a direction opposite to the re-entrant angle and the distal end of which bears on the portion of intercalary tissue which extends between the first support and the second support when the gripper is in its position for releasing the end of the intercalary tissue, - the guide blade is connected to the gripper frame by arms and is located between the pressure roller and the gripping elements and below the pressure roller and the gripping elements when the gripper is in its position for releasing the end of the interlayer fabric, - the gripping elements of the gripper are clamps for gripping the end of the interlayer fabric when this end of the interlayer fabric hangs below the first support, - the clamps are mounted to move in translation in a horizontal direction when the gripper is in its position for gripping the end of the interlayer fabric wound on the first support, - the system for detecting the end of the interlayer fabric wound on the first support comprises at least one camera mounted on the gripper or at least one laser sensor installed on a frame of the machine. DETAILED DESCRIPTION

[0012] Other characteristics and advantages of the invention will appear in the description which follows. This description, given by way of example and not as a limitation, refers to the attached drawings in which: - [Fig.l] schematically illustrates a machine for automated transfer of an interlayer fabric from a first support to a second support according to the invention, - [Fig.2] schematically illustrates a gripper of an automated transfer machine according to the invention, - [Fig.3] schematically illustrates a first variant of a gripper of an automated transfer machine according to the invention, - [Fig.4] schematically illustrates another variant of a gripper of an automated transfer machine according to the invention, - [Fig.5], [Fig.6], [Fig.7], [Fig.8], [Fig.9], [Fig.10], [Fig.11] and [Fig.12] schematically illustrate different steps of an example of a method for transferring an interlayer fabric from a first support to a second support implemented with a transfer machine according to the invention.

[0013] As indicated in the preamble, the invention relates to the fully automated winding of an interlayer fabric from a first cylindrical support to a second cylindrical support.

[0014] For example, in tire manufacturing, interlayer fabrics are used to store fully rubberized products or fabrics calendered in a rubbery material on a cylindrical support, also called a roll.

[0015] In the case of winding a rubber product directly from an extruder or a calendering machine, for example, the interlayer fabric is supplied by a first cylindrical support, then the rubber product to be wound is placed on the interlayer fabric in order to be wound with the latter on a second cylindrical support.

[0016] When using a rubber product wound on a cylindrical support with an interlayer fabric to feed a machine for manufacturing tire blanks, for example, the wound product and its interlayer fabric are unwound from a first cylindrical support and only the interlayer fabric is wound again on a second cylindrical support, the wound product being used by the manufacturing machine. MACHINE

[0017] The machine according to the invention can be used in either of the situations which have just been described.

[0018] As illustrated in Figure 1, the machine according to the invention is a machine 10 for automated transfer of an interlayer fabric T from a first support 12 to a second support 14.

[0019] Preferably, the first support 12 and the second support 14 are cylindrical.

[0020] Also, the machine 10 comprises a first receiving axis A12 of the first support 12 on which the interlayer fabric T is wound and from which the interlayer fabric T must be unwound, and the machine 10 comprises a second receiving axis A14 of the second support 14 on which the interlayer fabric T coming from the first support 12 must be wound.

[0021] If the machine 10 according to the invention is used to feed a machine for manufacturing tire blanks with a rubber product, this rubber product is unwound from the first support with the interlayer fabric T, then separated from the interlayer fabric T which is then wound alone onto the second support 14.

[0022] If the machine 10 according to the invention is used for storing a rubber product coming out of an extruder or a calender, the interlayer fabric T alone is unwound from the first support 12, then the rubber product is wound with the interlayer fabric T onto the second support 14.

[0023] Preferably, the first receiving axis A12 of the first support 12 and the second receiving axis A14 of the second support 14 are parallel to each other. Preferably, the first receiving axis A12 and the second receiving axis A14 are located in the same horizontal plane P10.

[0024] Preferably, the first support 12 and the second support 14 have identical lengths L12, L14 in the horizontal plane P10 and they are centered on either side of a vertical plane P20 perpendicular to the horizontal plane P10.

[0025] For example, the two receiving axes A12, A14 of the two supports 12, 14 are mounted on two right lateral frames 16D and left 16G. Thus, the right lateral frame 16D supports the ends right of the two supports 12,14 and the left frame 16G supports the left ends of the two supports 12,14.

[0026] In order to allow the interlayer fabric T to be wound and / or unwound on the two cylindrical supports 12, 14, the two receiving axes A12, A14 of the two supports 12, 14 are mounted to be able to rotate relative to the two frames 16D, 16G and driven in rotation by motors. In more detail, each receiving axis A12, A14 is mounted to be able to rotate about its longitudinal central axis C12, C14.

[0027] In order to take the end E of the interlayer fabric T from the first support 12 to the second support 14, the transfer machine 10 according to the invention comprises an automated device 18 for gripping the end E of the interlayer fabric T wound on the first support 12. More precisely and as illustrated in FIG. 2, this automated gripping device 18 comprises a detection system 20 for the end E of the interlayer fabric T wound on the first support 12 and a gripper 21 comprising gripping elements 22 for gripping the end E of the interlayer fabric T wound on the first support 12.

[0028] In a preferred embodiment of the invention, the automated gripping device 18 comprises a robotic arm 24 making it possible to position the gripper 21 under the first support 12 in a position for gripping the end E of the interlayer fabric T wound on this first support 12 and to move the gripper 21 around the second support 14 to a position for releasing the end E of the interlayer fabric T, the movement of the gripper 21 around the second support 14 making it possible to wind the interlayer fabric T around the second support 14 and to create a re-entrant angle AR, visible in FIG. 3, between the interlayer fabric T and the second support 14, and the gripper 21 making it possible to release the end E of the interlayer fabric T towards this re-entrant angle AR when the gripper 21 is in its position for releasing the end E of the interlayer fabric T.

[0029] The robotic arm 24 preferably comprises different sections articulated to each other and it offers several axes of rotational mobility. Thus, when it is not in use, the robotic arm 24 is positioned with the gripper 21 in a waiting position, visible in FIG. 1, making it possible to clear the space available in front of the transfer machine 10 to install another device such as for example a belt conveyor. Thanks to the robotic arm 24 and its different axes of rotational mobility, the two supports 12, 14 of the transfer machine 10 according to the invention can be supported by a frame at each of their ends.

[0030] The release position of the end E of the fabric T of the gripper 21 is illustrated in FIG. 3. In this position of the gripper 21, the gripping elements 22 of the gripper 21 advantageously make it possible to bring the end E of the interlayer fabric T as close as possible to the portion P of interlayer fabric T which extends between the first support 12 and the second support 14.

[0031] In addition to the winding of the interlayer fabric T around the second support 14 obtained by the movement of the gripper 21 around this second support, and to prevent the part of the interlayer fabric T wound on the second support 14 from sliding, the gripper 21 comprises a pressure roller 26 making it possible to press the interlayer fabric T onto the second support 14 upstream of the end E of the interlayer fabric T gripped by the gripping elements 22 of the gripper 21 when the gripper is in its position for releasing the end of the interlayer fabric.

[0032] Preferably, the gripper 21 comprises a frame 28 on which the gripping elements 22 of the end E of the interlayer fabric and the pressure roller 26 are mounted, the gripping elements 22 are located at the front of the gripper when the gripper is in its position for releasing the end of the interlayer fabric, and the pressure roller 26 is located under the frame 28 of the gripper when the gripper is in its position for releasing the end of the interlayer fabric.

[0033] In order to ensure that the end E of the interlayer fabric T is drawn into the re-entrant angle AR when this end E is released by the gripping elements 22 of the gripper when this gripper is in its release position, the distance DI between the pressure roller 26 and the gripping elements 22 is greater than the circumferential distance D2 between the pressure roller 26 and the re-entrant angle AR when the gripper is in its position for releasing the end E of the interlayer fabric T. In the case where the second support 14 is cylindrical, the circumferential distance D2 is the length of the shortest arc of a circle which connects the apex of the re-entrant angle AR to the support point of the pressure roller 26 on the second support 14. Still in the case where the second support 14 is cylindrical, the distance DI between the pressure roller 26 and the gripping elements 22 is adapted according to the diameter of the second cylindrical support 14.

[0034] Preferably, when the end E of the interlayer fabric T is released by the gripping elements 22 of the gripper when this gripper is in its release position, the second support 14 is driven in rotation so as to cause the interlayer fabric to be wound around this second support 14. This rotation of the second support also makes it possible to drive the end E of the interlayer fabric T released by the gripping elements 22 into the re-entrant angle AR.

[0035] For example, the pressure roller 26 is mounted to rotate freely around its longitudinal central axis A26. Thus, it provides little resistance to the winding of the interlayer fabric T around this second support 14. Optionally, and as illustrated in FIG. 3, the pressure roller 26 can be mounted to pivot relative to the frame 28 of the gripper and its rotational mobility relative to the frame 28 can be controlled using a spring 29.

[0036] Ideally, the pressure roller 26 has a length L26 substantially identical to the length L14 of the second support 14. The pressure roller 26 may consist of a single cylindrical body or of several cylindrical bodies placed end to end.

[0037] Advantageously, the pressure roller 26 makes it possible to avoid fixing by self-gripping strip, by adhesive strip, or by mechanical connection, and therefore difficult to automate, of the end E of the interlayer fabric T on the second support 14.

[0038] In addition to the pressure roller 26 and as illustrated in FIG. 4, the gripper 21 may comprise a guide blade 30 for guiding the end E of the interlayer fabric T into the re-entrant angle AR, this guide blade 30 extending towards the re-entrant angle AR and it has a guide surface 31 parallel to the portion P of interlayer fabric T which extends between the first support 12 and the second support 14 when the gripper 21 is in its position for releasing the end of the interlayer fabric. This guide blade 30 makes it possible to guarantee the penetration of the end E of the interlayer fabric T into the re-entrant angle AR and therefore a good start to the winding of the interlayer fabric onto the second support.

[0039] In addition to the guide blade 30 and to avoid rolling up the interlayer fabric with folds, the gripper 21 may comprise a smoothing blade 32. This smoothing blade 32 extends in a direction opposite to the re-entrant angle AR and its distal end 33 comes to bear on the portion P of interlayer fabric T which extends between the first support 12 and the second support 14 when the gripper 21 is in its position for releasing the end of the interlayer fabric. The distal end 33 of this smoothing blade 32 in contact with the interlayer fabric is located in the extension of the surface of the guide blade 30 in contact with the interlayer fabric when the gripper 21 is in its position for releasing the end of the interlayer fabric.

[0040] According to the invention, the guide blade 30 is connected to the frame 28 of the gripper by arms 34 and it is located between the pressure roller 26 and the gripping elements 22 and below the pressure roller 26 and the gripping elements 22 when the gripper is in its position for releasing the end of the interlayer fabric.

[0041] Advantageously, when the gripper 21 comprises a smoothing blade 32, this smoothing blade is also mounted on the arms 34 which support the guide blade 30.

[0042] Ideally, the guide blade 30 has a length L30 substantially identical to the length L14 of the second support 14 and greater than the width W of the interlayer fabric to be wound. Ideally also, the unfolding blade has a length L32 substantially identical to the length L14 of the second support 14 and greater than the width W of the interlayer fabric to be wound.

[0043] For example, the guide surface 31 of the guide blade 30 comes into contact with the portion P of interposed fabric T which extends between the first support 12 and the second support 14 when the gripper is in its position for releasing the end of the interposed fabric and the guide blade 30 is located in the re-entrant angle AR.

[0044] To grasp the end E of the interlayer fabric T and wind it around the second support 14, the gripper 21 comprises gripping elements 22. These gripping elements 22 preferably take the form of clamps 36 for grasping the end E of the interlayer fabric when this end E of the interlayer fabric T hangs under the first support 12. As the interlayer fabric T hangs vertically under the first support 12, the clamps 36 have two jaws 38G, 38D oriented vertically when the gripper 21 is in its position for grasping the end E of the interlayer fabric T wound on this first support. The jaws 38 are oriented vertically when their bearing surfaces on the interlayer fabric T are parallel to a vertical plane.

[0045] In order to unfold the interlayer fabric even before its introduction into the re-entrant angle, the clamps 36 are mounted to move in translation, for example on slides, in a horizontal direction and driven in translation in this horizontal direction when the gripper 21 is in its position for gripping the end E of the interlayer fabric T wound on the first support 12. In more detail, the clamps are driven in translation so that the clamps move away from each other, which makes it possible to stretch the interlayer fabric and therefore to unfold it.

[0046] Preferably, the grippers 36 grip the interlayer fabric T by its right BLD and left BLG outer longitudinal edges. Thus, the gripping of the fabric is guaranteed even if its end is not perfectly straight and perpendicular to the longitudinal edges of the fabric. Also, the gripping elements 22 preferably take the form of two right 36D and left 36G grippers located respectively in line with the right BLD and left BLG outer longitudinal edges when the gripper 21 is located in its position for gripping the end E of the interlayer fabric T wound on the first support 12.

[0047] According to the invention, the automated gripping device 18 comprises a system 20 for detecting the end E of the interlayer fabric wound on the first support 12. More precisely, this detection system 20 makes it possible to detect the end E of the interlayer fabric when this end E hangs under the first support 12. This detection allows the gripping elements 22 to correctly grasp the end E of the interlayer fabric. This detection system 20 may comprise at least one, and preferably two, camera(s) on board the gripper 21. Alternatively, this detection system 20 may comprise at least one laser sensor (not shown) installed on one of the frames of the machine. PROCESS

[0048] Figures 5 to 12 illustrate the steps of an example of a method for transferring an interlayer fabric T from a first support 12 to a second support 14 with a transfer machine 10 according to the invention.

[0049] In a first step illustrated in Figure 5, the robotic arm 24 takes the gripper 21 to a detection position of the end E of the interlayer fabric T. This detection position is located close to the first support 12. During its approach movement, the gripper passes below the second support 14 and approaches the first support 12. During or after this approach movement of the gripper 21, the first support 12 is rotated so that a certain length of the interlayer fabric T hangs under the first support 12. Thus, the detection system 20 can be used to identify the position of the end E of the interlayer fabric T.

[0050] In a second step illustrated in figure 6, and thanks to the information transmitted by the detection system 20, the gripper 21 is taken by the robotic arm 24 to a position for gripping the end E of the interlayer fabric T wound on the first support 12. However, the gripping elements 22 of the gripper are still in an inactive position in which they do not allow the end E of the interlayer fabric to be gripped.

[0051] In a third step illustrated in figure 7, the gripping elements 22 of the gripper are activated so as to grip the end E of the interlayer fabric T. For example, if these gripping elements 22 take the form of right 36D and left 36G clamps, the jaws of these clamps are closed on the interlayer fabric T, preferably at its right BLD and left BLG outer longitudinal edges.

[0052] In a fourth step which may be optional, the robotic arm 24 lowers the gripper 21 to facilitate its subsequent passage under the second support 14. During this fourth step, the gripping elements 22 of the gripper remain activated.

[0053] In a fifth step illustrated in Figure 8, and initially, the robotic arm 24 moves the gripper 21, and therefore the end E of the interlayer fabric T, under the second support 14 while moving away from the first support 12. During this first step of the fifth step, and if we consider that the second support 14 is located upstream of the first support 12 in a horizontal direction, the end E of the interlayer fabric T is taken by the gripper 21 upstream of the second support 14 in this same horizontal direction while passing below the second support 14. Still during this fifth step, and in a second step, the robotic arm 24 moves the gripper 21, and therefore the end E of the interlayer fabric T around the second support 14 so as to bring the end E of the interlayer fabric towards the first support 12 but passing over the second support 14. Thus, the end E of the interlayer fabric T is wound around the second support 14.During this fifth step, the gripping elements 22 of the gripper remain activated.

[0054] In a seventh step illustrated in Figure 9, the robotic arm 24 lowers the gripper 21 so that the pressure roller 26 comes into contact with the second support 14 on which a first winding of the fabric T is carried out. During this seventh step, the gripping elements 22 of the gripper remain activated.

[0055] In an eighth step illustrated in Figure 10, the robotic arm 24 drives the gripper 21 in rotation so that the end E of the interlayer fabric T is located as close as possible to the portion P of fabric located between the first support 12 and the second support 14. In the case where the gripper 21 is equipped with a guide blade 30, the rotation of the gripper 21 allows the guide blade 30 to come as close as possible to the re-entrant angle AR and therefore into contact with the second support 14 on which a first winding of the fabric T is carried out. At the end of this eighth step, the gripper is located in its position for releasing the end E of the interlayer fabric. During this eighth step, the gripping elements 22 of the gripper remain activated.

[0056] In a ninth step illustrated in Figure 11, the gripping elements 22 of the gripper are deactivated so as to release the end E of the interlayer fabric T. For example, if these gripping elements 22 take the form of right 36D and left 36G clamps, the jaws of these clamps are open. Advantageously, when the end E of the interlayer fabric is released by the gripping elements 22, the pressure roller 26 makes it possible to prevent the interlayer fabric from sliding on the second support 14 and to maintain the first winding of the interlayer fabric on the second support 14.

[0057] In a tenth step illustrated in figure 12, and after the release of the end E of the interlayer fabric by the gripping elements 22, the second support 14 and the first support 12 are driven in rotation so as to allow the transfer of the interlayer fabric T from the first support 12 to the second support 14.

[0058] Finally, in a last step (not illustrated), the robotic arm 24 moves the gripper 21 away so as to free up the space around the two supports 12, 14 to allow the use of the transfer machine 10 according to the invention in a manufacturing line, for example of tires.

Claims

Claims 1. Machine (10) for automated transfer of an interlayer fabric (T) from a first support (12) to a second support (14), said machine comprising: - a first receiving axis (A12) of the first support (12) on which the interlayer fabric (T) is wound and from which it must be unwound, and - a second receiving axis (A14) of the second support (14) on which the interlayer fabric (T) from the first support (12) must be wound, the machine (10) being characterized in that it comprises: - an automated device (18) for gripping the end (E) of the interlayer fabric (T) wound on the first support (12), - the automated gripping device (18) comprising a detection system (20) for the end (E) of the interlayer fabric wound on the first support (12) and a gripper (21) comprising gripping elements (22) for gripping the end (E) of the interlayer fabric (T) wound on the first support (12), - the automated gripping device (18) comprising a robotic arm (24) for positioning the gripper (21) under the first support (12) in a position for gripping the end (E) of the interlayer fabric (T) wound on this first support (12) and for moving the gripper (21) around the second support (14) to a position for releasing the end (E) of the interlayer fabric (T), the movement of the gripper (21) around the second support making it possible to wind the interlayer fabric (T) around the second support (14) and to create a re-entrant angle (AR) between the interlayer fabric and the second support, and the gripper making it possible to release the end (E) of the interlayer fabric (T) towards this re-entrant angle when the gripper (21) is in its position for releasing the end (E) of the interlayer fabric, - the gripper (21) comprising a pressure roller (26) making it possible to press the interlayer fabric (T) onto the second support (14) upstream of the end (E) of the interlayer fabric (T) gripped by the gripping elements (22) of the gripper when the gripper is in its position for releasing the end of the interlayer fabric.

2. Machine according to claim 1, in which, the gripper (21) comprises a frame (28) on which are mounted the gripping elements (22) of the end (E) of the interlayer fabric and the pressure roller (26), the gripping elements (22) are located at the front of the gripper when the gripper is in its position for releasing the end of the interlayer fabric, and the pressure roller (26) is located under the frame (28) of the gripper when the gripper is in its position for releasing the end of the interlayer fabric.

3. Machine according to one of the preceding claims, in which the distance (D1) between the pressure roller (26) and the gripping elements (22) is greater than the circumferential distance (D2) between the pressure roller (26) and the re-entrant angle (AR) when the gripper is in its position for releasing the end (E) of the interlayer fabric (T).

4. Machine according to one of the preceding claims, in which the gripper comprises, in addition to the pressure roller (26), a guide blade (30) for the end (E) of the interlayer fabric (T) in the re-entrant angle (A), this guide blade (30) extending towards the re-entrant angle (AR) and having a guide surface (31) parallel to the portion (P) of interlayer fabric (T) which extends between the first support (12) and the second support (14) when the gripper is in its position for releasing the end of the interlayer fabric. Machine according to claim 4, in which the gripper comprises, in addition to the guide blade (30), a smoothing blade (32) extending in a direction opposite to the re-entrant angle (AR) and the distal end (33) of which rests on the portion (P) of interlayer fabric (T) which extends between the first support (12) and the second support (14) when the gripper (21) is in its position for releasing the end of the interlayer fabric. Machine according to claim 4 or claim 5, in which the guide blade (30) is connected to the frame (28) of the gripper (21) by arms (34) and is located between the pressure roller (26) and the gripping elements (22) and below the pressure roller (26) and the gripping elements (22) when the gripper is in its position for releasing the end of the interlayer fabric.Machine according to one of the preceding claims, in which the gripping elements (22) of the gripper are clamps (36) for gripping the end (E) of the interlayer fabric when this end (E) of the interlayer fabric (T) hangs under the first support (12). Machine according to claim 7, in which the clamps (36) are mounted to move in translation in a horizontal direction when the gripper (21) is in its position for gripping the end (E) of the interlayer fabric (T) wound on the first support (12). Machine according to one of the preceding claims, in which the detection system (20) of the end (E) of the interlayer fabric wound on the first support (12) comprises at least one camera (40) on board the gripper or at least one laser sensor installed on a frame of the machine.

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