TIE CUTTING TROLLEY AND METHOD FOR CUTTING A TIE

Abstract

TITLE: TIE CUTTING TROLLEY AND METHOD FOR CUTTING A TIE One aspect of the invention relates to a tie cutting carriage (200) for cutting a tie (32) surrounding a batch of elements (30) comprising: a movement frame (202) and a cutting frame (204), a spacer tab (210) mounted integrally on the cutting frame and comprising a ramp surface (212) comprising a front end (210A) configured to slide between a tie and a reference surface (30A) of the batch of elements so that the ramp surface separates the tie from the reference surface during movement of the movement frame, a guide (220) mounted integrally on the cutting frame to guide the front end of the tab relative to the reference surface, a presence detector (230) of a tie which is in contact with the tab, and a cutting blade (240) configured to cut the tie. Figure to be published with the abstract: Figure 9

Description

Title of the invention: TIE CUTTING TROLLEY AND METHOD FOR CUTTING A TIE TECHNICAL FIELD OF THE INVENTION

[0001] The present invention relates to the field of packaging batches of elements surrounded by a tie, and more particularly to cutting the tie.

[0002] The present invention relates more particularly to a tie-cutting carriage, a machine comprising such a carriage and a method of cutting a tie surrounding a batch of elements, such as a batch of cardboard boxes in the form of flat plates. TECHNOLOGICAL BACKGROUND OF THE INVENTION

[0003] There are carriages for cutting a link surrounding a batch of elements comprising: - a cutting means configured to cut the link, - a locating means configured to locate the link to be cut and thus guide the cutting means to the link.

[0004] Conventionally, the location means is in the form of a camera allowing the link to be visually identified in order to locate it. Such a location means has certain drawbacks. Indeed, the identification of the link is visual and depends on its physical appearance, in particular its difference in color compared to the surface of the element held by the link. Thus, in the case of a color close to or identical between that of the link and that of the surface of the element, or in the case of the presence of a colored band on the surface of the element, the location means may be confronted with location errors or the impossibility of identifying the link. For example, it is very difficult for this type of location means to identify a white-colored link on a white-colored surface of the batch of elements.

[0005] The link makes it possible to hold the different elements against each other, for example cardboard cutouts, boxes, in particular in an unfolded state, in order to transport them from a first zone, for example from a pallet, to a second zone, for example an element loading store, without an element falling during transport.

[0006] Conventionally, the cutting of the link is carried out before an extraction machine, for example disclosed in document WO2017072428, moves the elements of the pallet to position them in a storage magazine of a processing machine, of the case packer or case former type, by folding each carton from their flat state to their assembled state.

[0007] The cutting means is therefore generally a device independent of the extraction machine configured to move the batch of elements held by the pallet link. to a storage warehouse. Using multiple devices or machines involves a significant cost.

[0008] The extraction machine is configured to move elements: - individually, one element after the other by means of a suction device, which presents a significantly high extraction time and involves a significant production cost, or - by batch, by dividing the stacks into several batches of elements, by a gripping means in the form of a vice further requiring a means of separating the different batches of elements configured to separate two batches of elements from each other, by interposing between the two.

[0009] One possible solution is to use the link to extract the batches of elements from the stack, for example in the form of a stack of flat cardboard boxes, but this requires using a second link crossed perpendicularly with the first link, which implies, on the one hand, two cuts of links, and on the other hand an increase in the number of links used and therefore an increase in the total cost.

[0010] There are extraction machines, such as that described in document WO2017001749, comprising a clamp which takes the form of a controlled vice which must be closed once it surrounds the link. The link must therefore be located beforehand in order to be able to be clamped, in particular by a camera. The machine further comprises a cutting means comprising a movable cutting blade which cuts the link while it is caught in said vice. The machine therefore has a clamp for gripping the link, as well as a cutting means which cuts the link while it is gripped by the clamp. The cutting means also comprises a pointed beak to come between the link and the batch of elements, this beak possibly forming a jaw of the clamp.However, this machine requires precise location of the link before pinching it, which can pose problems in the case of a link of a color close to that of the reference surface of the batch of elements, or even depending on the external light which can impact the visibility of the link.

[0011] There is therefore a need for a simpler and less expensive system, using a single link to hold a batch of elements, and a cutting means having a minimized cost and whose operation is versatile, allowing it to be adapted to any type of link. Summary of the invention

[0012] The invention provides a solution for cutting a link surrounding a batch of elements by proposing a link cutting carriage.

[0013] A first aspect of the invention relates to a tie cutting carriage for cutting a tie surrounding a batch of elements comprising: - a moving chassis, - a cutting frame that is mobile relative to the moving frame, - a spacer tab mounted securely on the cutting frame and comprising a ramp surface extending from a front end to a rear end of the spacer tab, the front end being configured to slide between a link and a reference surface of the element batch such that the ramp surface moves the link away from the reference surface of the element batch when the moving frame is moved, - a guide mounted integrally at the front on the cutting frame to guide and adapt the orientation of the front end of the spacer tab relative to the reference surface to facilitate insertion of the spacer tab between the link and the reference surface, - a link presence detector configured to detect the link when it is in contact with the ramp surface of the spacer tab, and - a cutting blade configured to cut the bond.

[0014] The tie-cutting carriage according to the invention advantageously makes it possible to dispense with an additional means of locating a tie. In other words, it is not necessary to locate the tie prior to grasping the batch of elements. Indeed, the tie-cutting carriage makes it possible to move blindly, that is to say without precise location of the tie prior to detection of the tie on the spacer tab. The spacer tab is interposed between the tie and the reference surface of a batch of elements and thus allows detection of the tie by the presence detector. Indeed, since the tie is always positioned around the batch of elements, the front end of the spacer tab slides on the reference surface thanks to the guide and the cutting frame articulated relative to the movement frame. The guide and the articulation of the cutting frame make it possible to orient the spacer tab at an angle relative to the reference surface.In addition, the moving frame allows the cutting frame and therefore the spacer tab to be moved on this reference surface by adapting to its shape, whether concave or convex. Thanks to the use of the presence detector, the detection of the link is carried out by mechanical contact of the link with the surface of the ramp of the tab, which identifies the link, regardless of its color or material, in particular compared to the use of a location means in the form of a camera according to the state of the art.

[0015] In addition, due to the presence of the ramp surface of the spacer tab, this makes it possible to insert the spacer tab between the tie and the reference surface of the batch of elements and to move the tie away from this reference surface and thus to tension the tie. When the tie is tensioned, this facilitates its cutting by the cutting blade. In addition, the tie when tensioned has the advantage of improving the tightening of the tie around a batch of elements, thus allowing an extraction machine to grip the entire batch of elements (without dividing it into sub-batches) for the extraction of the batch of elements from a pallet without the need for a second link or a vice-like gripping means and a separation means.

[0016] Such a tie-cutting trolley therefore makes it possible to significantly reduce the cost of extracting a batch of elements surrounded by a tie from a pallet. It is also very reliable and allows the capture of all types of ties, which makes it very versatile.

[0017] Advantageously, the cutting frame is movable in rotation along a first axis of rotation relative to the movement frame.

[0018] According to one example, the movement chassis comprises means for translational movement along a translation axis perpendicular to the first axis of rotation.

[0019] Advantageously, the link cutting carriage comprises a pressing means mounted between the movement frame and the cutting frame and configured to pivot the cutting frame between a first position and a last position, the pressing means exerting a force on the cutting frame towards the last position so that the front end of the spacer tab is in contact with the reference surface of the batch of elements during the movement of the link cutting carriage. Such a feature makes it possible to control the movement of the cutting frame relative to the movement frame and thus to control the position of the spacer tab relative to the reference surface of the batch of elements.

[0020] According to a first variant of the pressing means, the pressing means is a compensation actuator, preferably a cylinder. The cylinder may be in the form of a pneumatic, hydraulic or electric cylinder.

[0021] According to one example, the clamping means is a linear actuator, for example a cylinder configured to pivot the cutting frame relative to the displacement frame along a first axis of rotation, in a regulated manner. By “in a regulated manner” is meant that the clamping means applies a regulated force according to the force of the spacer tab and guides it on the reference surface of the batch of elements. In other words, the force exerted on the spacer tab is determined according to the orientation of the cutting frame and the reference surface, and according to the distance of the displacement frame from the reference surface.

[0022] According to a second variant of the plating means, the plating means is a spring.

[0023] Preferably, the tie-cutting carriage comprises a locking actuator mounted movably on the cutting frame and operable after detection of the tie by the presence detector, the locking actuator comprising a block configured to pinch the tie against the spacer tab. Such a feature makes it possible to maintain the tie in position on the one hand during the movement of the tie-cutting carriage and on the other hand to facilitate the cutting of the link by the cutting blade and in particular by holding the link to easily remove it from the batch of elements once the link has been cut.

[0024] According to a first variant of the spacer tab, the spacer tab comprises a concave face facing the cutting frame of the tie cutting carriage. Such a feature makes it easier to slide the front end of the tab under the tie surrounding the batch of elements.

[0025] According to a second variant of the spacer tab, the spacer tab comprises a convex face facing the cutting frame of the tie-cutting carriage. Such a feature makes it possible, when the spacer tab is in contact with the reference surface, to avoid damaging the reference surface during the movement of the tie-cutting carriage.

[0026] Preferably, the guide comprises a front edge arranged in front of the front end of the spacer tab. Such a feature makes it possible to optimize the guiding of the tab during the movement of the tie cutting carriage.

[0027] Advantageously, the spacer tab is elastically deformable. Such a feature makes it easier to slide the spacer tab under the link surrounding the batch of elements. In particular, the spacer tab can bend elastically like a spring blade, to allow a portion of the spacer tab extending from its front end to slide over the reference surface of the batch of elements and to be inserted under the link (between the link and the reference surface) by exerting pressure on the opposite end of the tab, towards the reference surface of the reference batch.

[0028] Advantageously, the spacer tab is made of spring steel and preferably of XC100 spring steel, i.e. has a carbon content of 1%.

[0029] Advantageously, the presence detector is mounted on the cutting frame.

[0030] Advantageously, the cutting frame is movable only in rotation relative to the movement frame along a first axis of rotation; the cutting frame comprises a pivoting delimiting arm of the cutting frame mounted movable in rotation: - relative to the moving frame by means of a shaft centered on the first axis of rotation, and - relative to the cutting frame by means of a second rotation axis; The delimiting arm comprising at least one stop for the last position of the cutting frame.

[0031] Such a feature allows the pivoting of the cutting frame relative to the moving frame to be controlled. Thus, this allows pressure to be exerted on the tab to allow its front end to slide under the tie.

[0032] According to an example in which the link cutting carriage further comprises the means of plating in the form of a jack, the second axis of rotation corresponds to the connection between the jack and the cutting frame, the jack comprising at its other end a pivot connection along a third axis with the movement frame.

[0033] Preferably, the delimiting arm comprises a light delimited by the last position stop and a first position stop of the cutting frame, the light cooperating with a locking stud mounted fixedly on the cutting frame so as to limit the rotation of the cutting frame between the first position and the last position. Such a characteristic makes it possible to limit the pivoting of the cutting frame relative to the movement frame between a first and a last position. In addition, this makes it possible to reduce the mounting clearance of the first rotation axis between the movement frame and the cutting frame.

[0034] Preferably, the presence detector comprises: a rocker mounted so as to pivot on the cutting frame about a third axis of rotation, between a rest position and a final position and comprising an arm extending perpendicular to the third axis of rotation with a lower end opposite the third axis of rotation, which in the rest position of the rocker extends beyond the spacer tab, and a pendulum position change sensor emitting a presence detection signal when the pendulum is located in a thrust position between the excluding rest position and the including end position.

[0035] Such a characteristic makes it possible, thanks to the combination of a balance wheel and a balance wheel position change sensor, to simplify the precision of the mechanical detection of the link.

[0036] Advantageously, the guide comprises strips of at least one roller rotating relative to the cutting frame, parallel to each other and forming the support zone of the guide. Such a characteristic makes it easier to move the link cutting carriage on the reference surface of the batch of elements.

[0037] Preferably, the cutting blade comprises a cutting edge arranged opposite the spacer tab and is mounted to move in translation on the cutting frame between a rest position and a cutting position according to which: in the rest position, the cutting blade is moved away from the spacer tab, and in the cutting position, the cutting blade is in contact with the spacer tab or passes through the tab.

[0038] Advantageously, the spacer tab comprises an opening, and in the cutting position the cutting blade passes through the opening of the spacer tab. In the example according to which the tie cutting carriage comprises a means plating, the plating means further comprises a slot or opening through which the cutting blade passes in the cutting position of the blade.

[0039] According to a variant, the cutting blade is mounted to move in translation on the cutting frame between a rest position and a cutting position and comprises a cutting edge, the cutting blade moving in a plane contiguous to a lateral edge of the tab according to which: - in the rest position, the cutting edge is closer to the travel frame than the side edge of the cutting blade, and - in the cutting position, the cutting edge is further from the travel frame than the side edge of the cutting blade.

[0040] A second aspect of the invention relates to a spacer tab for a tie cutting carriage according to the first aspect of the invention, the spacer tab being configured to be securely mounted on a cutting frame and comprising a ramp surface extending from a front end to a rear end of the spacer tab, the front end being configured to slide between a tie and a reference surface of a batch of elements such that the ramp surface moves the tie away from the reference surface of the batch of elements when the moving frame is moved.

[0041] Advantageously, the spacer tab comprises a concave face facing the cutting frame.

[0042] Preferably, the spacer tab is made of spring steel and preferably has a carbon content of 1%.

[0043] A third aspect of the invention relates to a method of cutting a tie surrounding a batch of elements to hold them together, by a tie cutting carriage according to the first aspect of the invention comprising the following steps: - positioning of the link cutting carriage opposite an area of ​​a reference surface of the batch of elements upstream of the link, - movement of the link cutting carriage forward, along a translation axis, by sliding the guide on the reference surface causing: • pivoting the cutting frame relative to the moving frame so that the front end of the spacer tab is in contact with the reference surface of the batch of elements depending on the contact of the guide with the spacer tab, • the sliding of the front end of the spacer tab between the link and the reference surface of the batch of elements, and • sliding the ramp surface of the spacer tab under the link and onto the reference surface of the batch of elements until the detection of the link by the presence detector, - cutting of the link by the cutting blade.

[0044] Advantageously, the link cutting carriage comprises a pressing means mounted between the movement frame and the cutting frame and the pivoting of the cutting frame relative to the movement frame is carried out under the action of the pressing means having a pressure regulated as a function of the force exerted by the guide on the reference surface of the batch of elements so that the front end of the spacer tab is in contact with the reference surface of the batch of elements.

[0045] Preferably, the link cutting carriage comprises a locking actuator mounted movably on the cutting frame, the cutting method comprises: - after detection of the link by the presence detector and before the cutting step, a step of locking the link by moving a block of the locking actuator from a rest position, in which the block is moved away from the link, to a position of pinching the link against the spacer tab, by applying a force to the link against the ramp surface of the spacer tab, and - after the cutting step, a step of moving the link cutting carriage, causing the link to be removed from the batch of elements, the link being pinched between the blocking actuator block and the spacer tab, - after the step of moving the tie-cutting carriage, a step of disposing of the tie in a container, by moving the tie-cutting carriage above the container and moving the blocking actuator block from its pinching position to its rest position.

[0046] Advantageously, the cutting method comprises, before the step of moving the link cutting carriage opposite a zone, a step of recognizing a positioning marker of the reference surface of the batch of elements, the zone being determined according to the location of the positioning marker.

[0047] Advantageously, the step of recognizing the positioning marker is carried out by a marking reader such as a barcode or QR code reader printed on the reference surface of the batch of elements.

[0048] Advantageously, the cutting method comprises a step of transmitting non-detection information when the tie cutting carriage is moved in translation beyond a predetermined position and / or when the presence detector has not detected a tie.

[0049] A fourth aspect of the invention relates to a machine comprising: - a robot comprising a mobile gripping head and configured to grip a batch of elements, - a link cutting trolley according to the first aspect of the invention, the cutting trolley link being mounted movable in translation relative to the gripping head, - an actuator mounted on the gripping head to move the link cutting carriage in translation on the gripping head.

[0050] The machine according to the invention makes it possible to move a batch of elements surrounded by a link thanks to the presence of the gripping head, and makes it possible to cut the link thanks to the integration of a link cutting carriage according to the first aspect of the invention. The combination of a gripping head and a carriage in the same machine makes it possible to obtain a versatile machine with a minimized footprint.

[0051] Advantageously, the robot comprises a base and an articulated arm mounted movably on the base, the gripping head being mounted movably on the articulated arm].

[0052] Preferably, the gripping head comprises a main body and gripping feet fixedly mounted on a second surface of the main body to grip the reference surface of the batch of elements.

[0053] Advantageously, each gripping foot of the main body of the gripping head of the machine comprises a suction cup arranged at its end.

[0054] Advantageously, the gripping head of the robot comprises at least one guide rail arranged in the main body, and the cutting frame of the link cutting carriage comprises guide wheels received in the rail of the gripping head so that the cutting frame translates by means of the translation actuator the cutting frame relative to the gripping head.

[0055] A fifth aspect of the invention relates to an assembly comprising a gripping head comprising: - a main body, - the tie-cutting carriage according to the first aspect of the invention with or without the various optional or preferred features, the tie-cutting carriage being mounted to move in translation on the main body of the assembly, and - an actuator for moving the tie-cutting carriage relative to the main body of the gripping head.

[0056] The invention and its various applications will be better understood upon reading the following description and examining the accompanying figures. BRIEF DESCRIPTION OF THE FIGURES

[0057] Other advantages and characteristics of the invention will appear on reading the following description, illustrated by the figures in which: - [Fig.l] is a schematic view of a machine comprising a robot and a tie-cutting carriage according to the invention, in a first position of a gripping head of the robot relative to a base of the robot, during a step of positioning a tie-cutting carriage relative to a batch of elements of a method according to which the gripping head of the robot is in a position remote from the batch of elements, and a cutting frame of the link cutting carriage is in a first position relative to a moving frame of the link cutting carriage; [Fig.2] is a schematic view of the machine, during the step of positioning the link cutting carriage according to [Fig.l] in which the gripping head has been moved into a contact position relative to the batch of elements and the cutting frame has been moved into an intermediate position relative to the movement frame of the link cutting carriage; [Fig.3] is a schematic view of the machine, during a step of moving the link cutting carriage relative to the gripping head of the robot, in which the link cutting carriage has been moved relative to the gripping head and is shown in an insertion position relative to the link of the batch of elements; [Fig.4] is a schematic view of the machine, during the step of moving the link cutting carriage according to [Fig.4] in which the link cutting carriage has been moved into a stop position relative to the link of the batch of elements; [Fig.5] is a schematic view of the machine, during a step of locking the link according to which a locking actuator is shown in a pinching position relative to the link cutting carriage, the locking actuator being shown in a rest position in figures 1 to 4; [Fig.6] is a schematic view of the machine, in a second position of the gripping head relative to the base of the robot, after a step of transporting the batch of elements, the link cutting carriage being in the same position as in [Fig.5]; [Fig.7] is a schematic view of the machine, during a step of cutting the link according to which a cutting blade of the link cutting carriage is in a cutting position, the cutting blade being shown in a rest position in figures 1 to 6; [Fig.8] is a schematic view according to [Fig.7], during a step of removing the link in which the cutting blade has returned to its rest position, the locking actuator has remained in its clamping position, the link is cut and the batch of elements is moved away from the gripping head of the robot; [Fig.9] is a side view of the tie cutting carriage according to an example of an embodiment of the invention; [Fig. 10] is a side view of the link cutting carriage according to a second example of an embodiment of the invention. DETAILED DESCRIPTION

[0058] An exemplary embodiment of a tie-cutting carriage according to the invention and an exemplary embodiment of a machine comprising a robot and an example of the tie-cutting carriage are described in detail below, with reference to the appended drawings. These examples illustrate the characteristics and advantages of the invention.

[0059] Unless otherwise specified, the same element appearing in different figures has a single reference.

[0060] The invention relates to a tie cutting carriage 200 configured to cut a tie 32 surrounding a batch of elements 30. According to another aspect, the invention also relates to an assembly comprising a gripping head 120 comprising: - a main body 122 on which the link cutting carriage 200 is mounted movably, and - an actuator for moving the link cutting carriage 200 relative to the main body 122.

[0061] The invention also relates to a machine 10 comprising the assembly and a robot 100 comprising the gripping head 120 mounted on an articulated arm 130 of the robot 100 for moving the gripping head 120.

[0062] As illustrated in Figures 1 to 8, the machine 10 therefore comprises: - the robot 100 comprising: • a base 110, • the gripping head 120 mounted movably relative to the base 110, and • an articulated arm 130 connecting the gripping head 120 to the base 110 and extending between a first pivot connection 132 with the base 110 and a second pivot connection 134 with the gripping head 120; - the link cutting carriage 200 mounted to move relative to the gripping head 120 of the robot 100 and comprising: • a 202 displacement chassis, • a cutting frame 204 mounted movably relative to the frame of displacement 202; and - the actuator (not shown) mounted on the gripping head 120 to move the link cutting carriage 200 in translation on the gripping head 120.

[0063] More particularly, the main body 122 of the gripping head 120 comprises: - a first face 122A and a second face 122B opposite the first face, and - a front face 122C and a rear face 122D opposite the front face 122C, the front and rear faces 122C, 122D connecting the first and second faces 122A, 122B between them.

[0064] In embodiments, the second pivot connection 134 of the articulated arm 130 is arranged at the first face 122A of the main body 122 of the gripping head 120. The gripping head 120 comprises gripping feet 124 fixedly mounted on the second face 122B of the main body 122. The gripping feet are configured to grip the reference surface 30A of the batch of elements 30.

[0065] The gripping head 120 of the robot 100 is pivotally movable relative to the base 110 between several positions including: - a first position, shown in Figures 1 to 5, in which the gripping head 120 extends substantially horizontally so that the first and second faces 122A, 122B extend substantially horizontally, and - a second position, shown in figures 6 to 8, according to which the gripping head 120 extends substantially vertically so that the front and rear faces 122C, 122D extend substantially vertically and the rear face 122D is arranged above the front face 122D.

[0066] The gripping head 120 of the robot 100 is also pivotable relative to the reference surface 30A of the batch of elements 30 between: - a remote position, shown in [Fig.l], according to which the second face 122B of the main body 122 is distant from the reference surface 30A of the batch of elements 30 by a non-zero distance, and - a contact position, shown in Figures 2 to 7, according to which the second face 122B of the main body 122 is substantially parallel to the reference surface 30A and the gripping feet 124 of the gripping head 120 are in contact with the reference surface 30A of the batch of elements 30.

[0067] The gripping head 120 optionally comprises a guide rail 126, here in this case a double rail guide, mounted on and arranged in the main body 122. The link cutting carriage 200 optionally comprises guide wheels 203 mounted in the rail 126 for the translation of the movement frame 200 relative to the gripping head 120 by means of the translation actuator. The guide wheels 203 are, in this example, each mounted on a corresponding shaft of the movement frame 202.

[0068] The link cutting carriage 200 is therefore mounted to move in translation relative to the gripping head 120 of the robot 100, in the rail 126 of the gripping head 120 between: - an initial position, shown in figures 1 and 2, in which the cutting carriage 200 is arranged as close as possible to the rear face 122D of the body main 122 of the gripping head 120, and - a final position, not shown, in which the cutting carriage is arranged as close as possible to the front face 122C of the main body 122 of the gripping head 120.

[0069] The actuator, not shown, may be an electric motor moving the cutting carriage 200, for example using a chain and a toothed wheel mounted on the cutting carriage 200 or may also be a cylinder, for example pneumatic.

[0070] The cutting frame 204 mounted to move relative to the movement frame 202 is in this case integral in translation relative to the movement frame 202 and is therefore also moved in translation relative to the gripping head 120 by this same actuator. The cutting frame 204 is, in this example, movable only in rotation relative to the movement frame 202 along an axis of rotation X2.

[0071] According to a variant, the cutting frame 204 is movable in a rotational movement and in a translational movement relative to the displacement frame 202. The cutting frame 204 is therefore movable between: - a first position, shown in [Fig.l], in which the cutting frame 204 is inclined towards the rear of the gripping head 120, - a last position, not shown, in which the cutting frame 204 is inclined towards the front of the gripping head 120.

[0072] The cutting frame is shown in Figures 2 to 8, in an intermediate position in which the cutting frame 204 is arranged parallel to the displacement frame 202 so that the guide 220 is in contact with the reference surface 30A of the batch of elements 30.

[0073] [Fig.9] illustrates a first example of this embodiment of the cutting carriage link 200 and [Fig. 10] illustrates a second example of this embodiment of the link cutting carriage 200.

[0074] As illustrated in [Fig. 10], in one possible embodiment, the link cutting carriage 200 comprises: - a spacer tab 210 optionally mounted securely on the cutting frame 204, - a guide 220 mounted securely at the front on the cutting frame 204, - a presence detector 230 of link 32, and - a cutting blade 240 of the link 32 mounted mobile in translation on the cutting frame 204, - a clamping means 206 mounted between the movement frame 202 and the cutting frame 204 for moving the cutting frame 204 relative to the movement frame 202 between the first and last positions, - a blocking actuator 250 mounted movably on the cutting frame 204 and actuable after detection of the link 32 by the presence detector 230, and - a pivoting delimiting arm 260 of the cutting frame 204 mounted to be mobile in rotation: • relative to the displacement frame 202 by means of a shaft centered on the first axis of rotation XI, and • relative to the cutting frame 204 by means of a second rotation axis X2.

[0075] By "integral mounting" is meant fixed or forming part of the same part. For example, the spacer tab 210 can either be fixed to the cutting frame 204 by fastening means such as nuts, or be part of the same part as that of the cutting frame 204 by welding.

[0076] In embodiments, it is possible to replace the spacer tab 210, in particular when it shows signs of wear.

[0077] According to another example not shown, the spacer tab 210 is articulated on the cutting frame 204, for example along an axis of rotation. Another actuator can also be mounted to move the spacer tab 210 at a predetermined or regulated angle relative to the cutting frame 204.

[0078] Spacer tab 210:

[0079] More particularly, the spacer tab 210 includes a ramp surface 212 extending between a front end 210A and a rear end 210B. The front end 210A of the spacer tab 210 is configured to slide between the link 32 surrounding the element bundle 30 and a reference surface 30A of the element bundle 30 such that the ramp surface 212 moves the link 32 away from the reference surface 30A of the element bundle 30 during movement of the movement frame 202.

[0080] According to a first exemplary embodiment of the cutting carriage 200, as shown in FIGS. 1 to 9, the ramp surface 212 of the spacer tab 210 has a concave face facing the cutting frame 204 of the tie cutting carriage 200.

[0081] According to a second exemplary embodiment of the cutting carriage 200 as shown in [Fig. 10], the cutting carriage 200 is identical to the first example except that the ramp surface 212 of the spacer tab 210 has a convex face facing the cutting frame 204 of the tie cutting carriage 200.

[0082] The spacer tab 210 may be presented according to the first or second example depending on the shape of the link 32 of the batch of elements 30 to be captured. Other embodiments, not shown, are possible.

[0083] Preferably, the spacer tab 210 is elastic. More particularly, the spacer tab 210 is made of spring steel. Preferably, the spacer tab 210 is made of XC100 spring steel and has a carbon content of 1%.

[0084] Guide 220:

[0085] The guide 220 is configured to guide and adapt the orientation of the front end 210A of the spacer tab 210 relative to the reference surface 30A in order to facilitate the insertion of the spacer tab 210 between the link 32 and the reference surface 30A of the batch of elements 30.

[0086] The guide 220 includes a front edge 220A arranged in front of the front end 210A of the spacer tab 210.

[0087] The guide 220 comprises strips of at least one roller rotating relative to the cutting frame 204 parallel to each other and forming the support zone 222 of the guide 220. In this case, the guide 220 comprises six strips and each strip comprises several rotating rollers.

[0088] Presence detector 230:

[0089] The presence detector 230 of a link 32 is configured to detect the link 32 when it is in contact with the ramp surface 212 of the spacer tab 210.

[0090] The presence detector 230 is mounted on the cutting frame 204 of the link cutting trolley 200 and comprises: - a balance 232 mounted movably on the cutting frame 204 along a third axis of rotation X3 and comprising an arm 234 extending perpendicular to the third axis of rotation X3 which comprises a lower end 234A opposite the third axis of rotation X3, and - a pendulum position change sensor 232 emitting a presence detection signal when the pendulum 232 is located between the excluded rest position and the included thrust position.

[0091] The position change sensor, not shown, may be in the form of a mechanical sensor, a displacement sensor or a presence sensor.

[0092] The balance 232 of the presence detector 230 is pivotally movable relative to the cutting frame, between: - a rest position, shown in [Fig.9], in which the lower end 234A of the arm 234 of the rocker 232 extends beyond the spacer tab 210 in a direction perpendicular to the first and second axes of rotation XI, X2, the end 234A being arranged beyond the spacer tab 210, - a final position, not shown, in which the lower end 234A of the arm 234 of the rocker 232 is located above a plane defined by the ramp surface 212 of the spacer tab 210.

[0093] During the translation of the tie-cutting carriage 200 towards the final position of the balance 232 of the presence detector 230, the lower end 234A of the arm 234 of the balance 232 comes into contact with the link 32 located on the spacer tab 210, causing the balance 232 to pivot towards its final position and to a predetermined thrust position allowing the position change sensor to emit a signal detecting the presence of the link 32 and thus to stop the translation of the tie-cutting carriage 200. In the thrust position, the lower end 234A of the arm is closer to the third axis of rotation X3 than in the rest position.

[0094] Cutting blade 240:

[0095] The cutting blade 240 is configured to cut the link 32 previously detected by the presence detector 230.

[0096] The cutting blade 240 is movable in translation relative to the cutting frame 204 between different positions including: - a rest position in which the cutting blade 240 is moved away from the link 32 and the spacer tab 210, and - a cutting position according to which the cutting blade 240 is either: • closer to the area of ​​the reference surface 30A of the batch of elements 30 covered by the link 32, in the detected position, or • in contact with the spacer tab 210.

[0097] In the examples shown, the cutting blade 240 comprises a cutting edge, the cutting blade 240 moving in a plane contiguous to a lateral edge of the spacer tab 210 according to which: - in the rest position, the cutting edge is closer to the movement frame 202 than the side edge of the cutting blade 240, and - in the cutting position, the cutting edge is further from the movement frame 202 than the lateral edge of the cutting blade 240 at the link in the detected position.

[0098] According to another example, the cutting blade 240 is movable in translation along a plane passing through the spacer tab 210. In this example, the cutting edge of the cutting blade 240 comes into contact with the cutting blade 240, or the cutting blade 240 passes through an orifice in the spacer tab 210.

[0099] In embodiments, the cutting blade is arranged in a cutting block, mounted on the cutting frame 204. The cutting block is then removably mounted, so that the cutting blade 240 can be replaced in a simplified and safe manner by an operator. For example, the cutting block is mounted on the cutting frame 204 by fastening means such as nuts.

[0100] Plating means 206:

[0101] The plating means 206 is mounted between the displacement frame 202 and the cutting frame 204 and is configured to pivot the cutting frame 204 relative to the travel frame between its first position and its last position.

[0102] The clamping means 206 exerts a force on the cutting frame 204 towards the last position so that the front end 210A of the spacer tab 210 is in contact with the reference surface 30A of the batch of elements 30 during the movement of the link cutting carriage 200.

[0103] According to a first possible variant of the pressing means 206 as shown in [Fig.9], the pressing means 206 is a compensation actuator, preferably a cylinder. The cylinder may be in the form of a pneumatic, hydraulic or electric cylinder.

[0104] According to a second possible variant of the plating means 206 not shown, the plating means 206 is a spring.

[0105] Locking actuator 250:

[0106] According to an exemplary embodiment of the locking actuator 250 as shown in [Fig.9], the locking actuator 250 comprises a block 252 configured to pinch the link 32 against the spacer tab 210.

[0107] Boundary arm 260:

[0108] The delimiting arm 260 comprising at least one stop 262B for the last position of the cutting frame 204.

[0109] The delimiting arm 260 comprises a light 262 delimited by the last position stop 262B and a first position stop 262A of the cutting frame 204, the light 262 cooperating with a locking stud 264 fixedly mounted on the cutting frame 204 so as to limit the rotation of the cutting frame 204 between the first position and the last position.

[0110] The link cutting carriage 200 therefore moves in translation relative to the link 32 surrounding the batch of elements 30 with the cutting frame 204 located in an intermediate position relative to the movement frame 202, sliding on the reference surface 30A of the batch of elements 30 between: - an initial position, then - an insertion position, shown in [Fig. 3], according to which the front end 210A of the spacer tab 210 is slid under the link 32, and a portion of the ramp surface 212 of the spacer tab 210 is arranged between the link 32 and the reference surface 30A of the batch of elements 30, then - a stop position, shown in [Fig.4], in which the cutting blade 240 and the block 252 of the locking actuator 250 are arranged opposite the link 32.

[0111] Figures 1 to 8 represent different steps of an example of implementation of a method for removing a link 32 surrounding a batch of elements 30 implemented by the machine 10. The method for removing the machine comprises steps of a method for cutting the link 32 surrounding the batch of elements 30 implemented by the link cutting carriage 200.

[0112] The removal method comprises for example the following successive steps: - recognition of a positioning marker of the reference surface 30A of the batch of elements 30, the recognition zone being determined according to the location of the positioning marker, thus the marker allows the robot to position the gripping head opposite the reference surface with the cutting carriage 200 in first position relative to the gripping head, located behind the link 32. In other words, said link 32 is located in an area in front of (upstream) the cutting carriage 200, said cutting carriage 200 being in first position. Thus, the precise location of the link 32 is unknown; - moving the gripping head 120 to its first position relative to the base 110 of the robot 100 ([Fig. 1]); - moving the gripping head 120 from its remote position to its contact position (step from [Fig.l] to [Fig.2]); - positioning the link cutting carriage 200 in a first position opposite an area of ​​the reference surface 30A of the batch of elements 30, upstream of the link 32 (step from [Fig.l] to [Fig.2]); - movement of the link cutting carriage 200 forward, along a translation axis Y, by sliding the guide 220 on the reference surface 30A causing: • pivoting the cutting frame 204 relative to the moving frame 202, so that the front end 210A of the spacer tab 210 is in contact with the reference surface 30A of the batch of elements 30 depending on the contact of the guide 220 with the spacer tab 210 (figure 2), and the guide 220 is in contact with the reference surface 30A, • the sliding of the front end 210A of the spacer tab 210 between the link 32 and the reference surface 30A of the batch of elements 30 (figure 3), and • the sliding of the ramp surface 212 of the spacer tab 210 under the link 32 and on the reference surface 30A of the batch of elements 30 until the detection of the link 32 by the presence detector 230 (figure 4); - locking the link 232 by moving the block 252 of the locking actuator 250 from its rest position to its pinching position, by applying a force to the link 32 against the ramp surface 212 of the spacer tab 210 ([Fig.5]); - moving the gripping head 120 to its last position, to a predetermined position, for example according to a quantity of elements in the storage magazine, relative to the base 110 of the robot 100 ([Fig.6]); - cutting of the link 32 by the cutting blade 240 ([Fig.7]); - movement of the link cutting carriage 200 causing the removal of the link 32 from the batch of elements 30, the link 32 being pinched between the block 252 of the locking actuator 250 and the spacer tab 210, ([Fig.8]); - optionally, disposing of the tie 32 in a container, by moving the tie cutting carriage 200 above the container and moving the block 252 of the locking actuator 250 from its pinching position to its rest position (not shown).

[0113] The removal method may further comprise a step of transmitting non-detection information when the link cutting carriage 200 is moved in translation beyond a predetermined position and / or when the presence detector 230 has not detected a link 32.

[0114] More particularly, the step of recognizing the positioning marker is for example carried out by a marking reader such as a bar code or QR code reader printed on the reference surface 30A of the batch of elements 30.

[0115] More particularly, during the step of moving the link cutting carriage 200 forward, the pivoting of the cutting chassis 204 relative to the moving chassis 202 is carried out under the action of the pressing means 206 having a pressure regulated as a function of the force exerted by the guide 220 on the reference surface 30A of the batch of elements 30 so that the front end 210A of the spacer tab 210 is in contact with the reference surface 30A of the batch of elements 30.

Claims

Claims

1. Tie cutting carriage (200) for cutting a tie (32) surrounding a batch of elements (30) comprising: - a movement frame (202), - a cutting frame (204) movable relative to the movement frame (202), - a spacer tab (210) mounted integrally on the cutting frame (204) and comprising a ramp surface (212) extending from a front end (210A) to a rear end (210B) of the spacer tab (210), the front end (210A) being configured to slide between a tie (32) and a reference surface (30A) of the batch of elements (30) so that the ramp surface (212) separates the tie (32) from the reference surface (30A) of the batch of elements (30) during movement of the movement frame (202),- a guide (220) mounted integrally at the front on the cutting frame (204) to guide and adapt the orientation of the front end (210A) of the spacer tab (210) relative to the reference surface (30A) in order to facilitate the insertion of the spacer tab (210) between the link (32) and the reference surface (30A), - a presence detector (230) of a link (32) configured to detect the link (32) when it is in contact with the ramp surface (212) of the spacer tab (210), and - a cutting blade (240) configured to cut the link (32).,

2. A tie-cutting carriage (200) according to claim 1, characterized in that it comprises a pressing means (206) mounted between the movement frame (202) and the cutting frame (204) and configured to pivot the cutting frame (204) between a first position and a last position, the pressing means (206) exerting a force on the cutting frame (204) towards the last position so that the front end (210A) of the spacer tab (210) is in contact with the reference surface (30A) of the batch of elements (30) during the movement of the tie-cutting carriage (200).

3. A tie-cutting trolley (200) according to any one of the preceding claims. preceding, characterized in that it comprises a locking actuator (250) mounted movably on the cutting frame (204) and actuable after detection of the link (32) by the presence detector (230), the locking actuator (250) comprising a block (252) configured to pinch the link (32) against the spacer tab (210).

4. Tie cutting carriage (200) according to any one of the preceding claims, characterized in that the spacer tab (210) comprises a concave face facing the cutting frame (204).

5. Tie cutting carriage (200) according to any one of the preceding claims, characterized in that the guide (220) comprises a front edge (220A) arranged in front of the front end (210A) of the spacer tab (210).

6. Tie cutting carriage (200) according to any one of the preceding claims, characterized in that the spacer tab (210) is elastically deformable.

7. Link cutting carriage (200) according to any one of the preceding claims, characterized in that the cutting frame (204) is movable only in rotation relative to the displacement frame (202) along a first axis of rotation (XI) and in that it comprises a delimiting arm (260) for pivoting the cutting frame (204) mounted movable in rotation: - relative to the displacement frame (202) by means of a shaft centered on the first axis of rotation (XI), and - relative to the cutting frame (204) by means of a second axis of rotation (X2); said delimiting arm (260) comprising at least one stop (262B) for the last position of the cutting frame (204).

8. Link cutting carriage (200) according to the preceding claim, characterized in that the delimiting arm (260) comprises a light (262) delimited by the last position stop (262B) and a first position stop (262A) of the cutting frame (204), the light (262) cooperating with a locking stud (264) fixedly mounted on the cutting frame (204) so ​​as to limit the rotation of the cutting frame (204) between the first position and the last position.

9. Link cutting trolley (200) according to any one of the preceding claims, characterized in that the presence detector (230) comprises: - a balance (232) mounted pivotably on the cutting frame (204) along a third axis of rotation (X3), between a rest position and a final position and comprising an arm (234) extending perpendicular to the third axis of rotation (X3) having a lower end (234A) opposite the third axis of rotation (X3), which in the rest position of the balance (232) exceeds the spacer tab (210), and - a sensor for changing the position of the balance (232) emitting a presence detection signal when the balance (232) is located in a thrust position between the rest position excluded and the final position included.

10. Tie cutting carriage (200) according to any one of the preceding claims, characterized in that the guide (220) comprises strips of at least one roller rotating relative to the cutting frame (204) parallel to each other and forming the support zone (222) of the guide (220).

11. A spacer tab (210) for a tie cutting carriage (200) according to any one of claims 1 to 10, the spacer tab (210) being configured to be securely mounted on a cutting frame (204) and comprising a ramp surface (212) extending from a front end (210A) to a rear end (210B) of the spacer tab (210), the front end (210A) being configured to slide between a tie (32) and a reference surface (30A) of a batch of elements (30) such that the ramp surface (212) moves the tie (32) away from the reference surface (30A) of the batch of elements (30) during movement of the movement frame (202).

12. Spacer tab (210) according to the preceding claim, characterized in that it comprises a concave face facing the cutting frame (204).

13. Spacer tab (210) according to claim 13 or 14, characterized in that it is made of spring steel and preferably has a carbon content of 1%.

14. Method of cutting a link (32) surrounding a batch of elements (30) to hold them together, by a link cutting carriage (200) according to any one of claims 1 to 10 comprising the following steps: - positioning the link cutting carriage (200) opposite an area of ​​a reference surface (30A) of the batch of elements (30) upstream of the link (32), - moving the link cutting carriage (200) forward, along a translation axis (Y), by sliding the guide (220) on the reference surface (30A) causing: • the pivoting of the cutting frame (204) relative to the moving frame (202) so that the front end (210A) of the spacer tab (210) is in contact with the reference surface (30A) of the batch of elements (30) depending on the contact of the guide (220) with the spacer tab (210), • the sliding of the front end (210A) of the spacer tab (210) between the link (32) and the reference surface (30A) of the batch of elements (30),and • sliding the ramp surface (212) of the spacer tab (210) under the link (32) and on the reference surface (30A) of the batch of elements (30) until the link (32) is detected by the presence detector (230), - cutting of the link (32) by the cutting blade (240).,

15. Cutting method according to the preceding claim, according to which the link cutting carriage (200) is according to claim 2 or according to any one of claims 3 to 10 in combination with claim 2, in which the pivoting of the cutting frame (204) relative to the displacement frame (202) is carried out under the action of the pressing means (206) having a pressure regulated as a function of the force exerted by the guide (220) on the reference surface (30A) of the batch of elements (30) so that the front end (210A) of the spacer tab (210) is in contact with the reference surface (30A) of the batch of elements (30).

16. Cutting method according to claim 14 or 15, characterized: in that the link cutting carriage (200) comprises a locking actuator (250) movably mounted on the cutting frame (204), - and in that the cutting method comprises: • after detection of the link (32) by the presence detector (230) and before the cutting step, a step of locking the link (232) by moving a block (252) of the locking actuator (250) from a rest position in which the block (252) is moved away from the link (32) to a position in which the link (32) is pinched against the spacer tab (210), by applying a force to the link (32) against the ramp surface (212) of the spacer tab (210), and • after the cutting step, a step of moving the link cutting carriage (200) causing the link (32) to be removed from the batch of elements (30), the link (32) being pinched between the block (252) of the locking actuator (250) and the spacer tab (210), • after the step of moving the tie-cutting carriage (200), a step of disposing of the tie (32) in a container,by moving the tie-cutting carriage (200) above the container and moving the block (252) of the locking actuator (250) from its pinching position to its rest position.,

17. Cutting method according to any one of claims 14 to 16, characterized: - in that it comprises, before the step of moving the link cutting carriage (200) opposite a zone, a step of recognizing a positioning marker of the reference surface (30A) of the batch of elements (30), - and in that the zone is determined according to the location of the positioning marker.

18. Cutting method according to claim 17, characterized in that the step of recognizing the positioning marker is carried out by a marking reader such as a bar code or QR code reader printed on the reference surface (30A) of the batch of elements (30).

19. A cutting method according to any one of claims 14 to 17, characterized in that it comprises a step of transmitting non-detection information when the link cutting carriage (200) is moved in translation beyond a predetermined position and / or when the presence detector (230) has not detected a link (32).

20. Machine (10) comprising: - a robot (100) comprising a gripping head (120) which is movable and configured to grip a batch of elements (30), - a tie-cutting carriage (200) according to any one of claims 1 to 10, the tie-cutting carriage (200) being mounted to move in translation relative to the gripping head (120), and - an actuator mounted on the gripping head (120) for moving the tie-cutting carriage (200) in translation on the gripping head (120).

21. Machine (10) according to the preceding claim, characterized in that the robot (100) comprises a base (110) and an articulated arm (130) mounted movably on the base (110), the gripping head (120) being mounted movably on the articulated arm (130).

22. Machine (10) according to claim 20 or 21, characterized in that the gripping head (120) comprises a main body (122) and gripping feet (124) fixedly mounted on a second surface (122B) of the main body (122) for gripping the reference surface (30A) of the batch of elements (30).

23. Machine (10) according to any one of claims 20 to 22, characterized in that: - the gripping head (120) of the robot (100) comprises at least one guide rail (126) arranged in the main body (122), and - the cutting frame (204) of the link cutting carriage (200) comprises guide wheels (203) received in the rail (126) of the gripping head (120) so that the cutting frame (204) translates by means of the actuator in translation the cutting frame (204) relative to the gripping head (120).

Images