LINK CUTTING CARRIAGE AND LINK CUTTING METHOD
The link-cutting carriage addresses tie-cutting challenges by mechanically detecting and cutting ties without prior localization, reducing costs and complexity through a single tie-based extraction method.
Patent Information
- Authority / Receiving Office
- FR · FR
- Patent Type
- Patents
- Current Assignee / Owner
- Filing Date
- 2024-02-15
- Publication Date
- 2026-03-06
AI Technical Summary
Existing systems for cutting ties surrounding batches of elements, such as cardboard sheets, face challenges in accurately locating the ties due to color similarities with the elements, leading to localization errors and increased costs from using multiple devices or machines, and require additional links for extraction, which increases costs and complexity.
A link-cutting carriage with a movable cutting frame, spacer tab, and presence detector that mechanically detects the tie without prior localization, allowing for blind movement and efficient cutting using a single tie to extract batches, reducing the need for additional localization means and clamping devices.
The system significantly reduces extraction costs and enhances versatility by accurately cutting ties regardless of color or material, enabling efficient batch extraction without dividing into sub-batches and minimizing the number of ties used.
Abstract
Description
Title of the invention: LINK CUTTING CARRIAGE AND METHOD FOR CUTTING A LINK 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 the cutting of the tie.
[0002] The present invention relates more particularly to a tie-cutting trolley, a machine comprising such a trolley and a method for cutting a tie surrounding a batch of elements, such as a batch of cardboard in the form of flat sheets. TECHNOLOGICAL BACKGROUND OF THE INVENTION
[0003] There are carriages for cutting a link surrounding a set 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] Typically, the localization method takes the form of a camera that visually identifies the link in order to locate it. Such a localization method has certain drawbacks. Indeed, link identification is visual and depends on its physical appearance, particularly its color difference compared to the surface of the element held by the link. Thus, if the color of the link and the surface of the element are similar or identical, or if there is a colored band on the surface of the element, the localization method may encounter localization errors or be unable to identify the link. For example, it is very difficult for this type of localization method to identify a white link on a white surface within a set of elements.
[0005] The link makes it possible to keep the different elements against each other, for example cardboard cutouts, cartons, especially in an unfolded state, in order to transport them from a first area, for example from a pallet, to a second area, for example a loading store for elements, 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, such as a case packer or case former, folding each carton from its flat state to its 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 up to a storage facility. The use of multiple devices or machines involves a significant cost.
[0008] The extraction machine is configured to move elements: - individually, one element after another using a suction cup device, which results in a significantly long extraction time and a substantial production cost, or - by batch, by dividing the stacks into several batches of elements, by a gripping means in the form of a vise requiring in addition a means of separating the different batches of elements configured to separate two batches of elements from each other, by interposing itself between the two.
[0009] One possible solution is to use the link to extract 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 cuttings of links, and on the other hand, an increase in the number of links used and therefore an increase in the total cost.
[0010] Extraction machines exist, such as the one described in document WO2017001749, comprising a gripper in the form of a controlled vise that must be closed once it encircles the link. The link must therefore be located beforehand to be gripped, notably by a camera. The machine further comprises a cutting means including a movable cutting blade that cuts the link while it is held in the vise. The machine thus has a gripper for grasping the link, as well as a cutting means that severs the link while it is gripped by the gripper. The cutting means also includes a pointed beak for positioning itself between the link and the batch of elements, this beak optionally forming a jaw of the gripper.However, this machine requires precise location of the link before pinching it, which can pose problems in the case of a link whose color is close to that of the reference surface of the batch of elements, or 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 with a minimized cost and versatile operation, allowing adaptation to any type of link. Summary of the invention
[0012] The invention offers a solution for cutting a link surrounding a set of elements by proposing a link cutting carriage.
[0013] A first aspect of the invention relates to a tie-cutting trolley for cutting a tie surrounding a set of elements comprising: - a transport chassis, - a cutting frame that is movable relative to the movement 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 batch of elements so that the ramp surface separates the link from the reference surface of the batch of elements when the displacement frame is moved, - a guide mounted integrally to the front of the cutting frame to guide and adjust the orientation of the front end of the spacer tab relative to the reference surface to facilitate the 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 link.
[0014] The link-cutting carriage according to the invention advantageously eliminates the need for an additional link-locating means. In other words, it is not necessary to locate the link prior to picking up the batch of elements. Indeed, the link-cutting carriage allows for blind movement, that is, without precise link location prior to the link being detected on the spacer tab. The spacer tab is interposed between the link and the reference surface of a batch of elements, thus enabling the link to be detected by the presence detector. Since the link 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, which is articulated relative to the movement frame. The guide and the articulation of the cutting frame allow the spacer tab to be oriented at an angle relative to the reference surface.Furthermore, the movement frame allows the cutting frame, and therefore the spacing tab, to be moved on this reference surface, adapting to its shape, whether concave or convex. Thanks to the use of the presence detector, the link is detected by mechanical contact between the link and the surface of the tab ramp, thus identifying the link regardless of its color or material, unlike the use of a camera-based location method according to the prior art.
[0015] Furthermore, thanks to the presence of the ramp surface of the spacer tab, it is possible to insert the spacer tab between the link and the reference surface of the set of elements, thus separating the link from this reference surface and tensioning the link. When the link is tensioned, it is easier to cut with the cutting blade. In addition, the tensioned link has the advantage of improving the tightening of the link around of a batch of elements, thus enabling an extraction machine to grasp 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 clamping 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 items bound with a tie from a pallet. Furthermore, it is highly reliable and can handle all types of ties, making it very versatile.
[0017] Advantageously, the cutting frame is mobile in rotation about a first axis of rotation relative to the displacement frame.
[0018] According to one example, the displacement chassis includes means for displacement in translation along a translation axis perpendicular to the first axis of rotation.
[0019] Advantageously, the link-cutting carriage includes a clamping means mounted between the travel frame and the cutting frame and configured to rotate the cutting frame between a first position and a last position. The clamping means exerts 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. This feature allows control of the movement of the cutting frame relative to the travel frame and thus control of the position of the spacer tab relative to the reference surface of the batch of elements.
[0020] According to a first variant of the clamping means, the clamping means is a compensating actuator, preferably a cylinder. The cylinder can 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 rotate the cutting frame relative to the travel frame along a first axis of rotation, in a controlled manner. By “controlled manner” it is understood that the clamping means applies a force regulated according to the force of the spreader tab and guides it on the reference surface of the batch of elements. In other words, the force exerted on the spreader tab is determined according to the orientation of the cutting frame and the reference surface, and according to the distance of the travel frame from the reference surface.
[0022] According to a second variant of the clamping means, the clamping means is a spring.
[0023] Preferably, the tie-cutting carriage includes a locking actuator movably mounted on the cutting frame and actuated after the tie is detected by the presence detector, the locking actuator comprising a block configured to pinch the tie against the spreading tab. Such a feature makes it possible to hold the tie in position, on the one hand, during the movement of the tie-cutting carriage and, on the other hand to facilitate cutting the link with the cutting blade and in particular by holding the link to easily remove it from the set of elements once the link has been cut.
[0024] According to a first embodiment of the spacer tab, the spacer tab comprises a concave face opposite the cutting frame of the tie-cutting carriage. This feature facilitates the sliding of the front end of the tab under the tie surrounding the set of elements.
[0025] According to a second embodiment of the spacer tab, the spacer tab comprises a convex face opposite the cutting frame of the tie-cutting carriage. This feature prevents damage to the reference surface during the movement of the tie-cutting carriage when the spacer tab is in contact with the reference surface.
[0026] Preferably, the guide includes a leading edge arranged at the front of the leading end of the spreader tongue. This feature optimizes the guiding of the tongue during the movement of the tie-cutting carriage.
[0027] Advantageously, the spacer tab is elastically deformable. This feature facilitates the sliding of the spacer tab under the bond surrounding the batch of elements. In particular, the spacer tab can bend elastically like a leaf spring, allowing a portion of the spacer tab extending from its front end to slide over the reference surface of the batch of elements and insert itself under the bond (between the bond 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 displacement frame along a first axis of rotation; the cutting frame includes a pivoting delimiter arm for the cutting frame mounted movable in rotation: - relative to the displacement chassis by means of a shaft centered on the first axis of rotation, and - relative to the cutting frame by means of a second axis of rotation; The delimiting arm comprising at least one stop for the last position of the cutting frame.
[0031] Such a feature allows control of the pivoting of the cutting frame relative to the movement frame. This, in turn, allows pressure to be applied to the tab, enabling its front end to slide under the link.
[0032] According to an example in which the cutting carriage link further includes the plating means in the form of a cylinder, the second axis of rotation corresponds to the link between the cylinder and the cutting frame, the cylinder including at its other end a pivot link along a third axis with the movement frame.
[0033] Preferably, the delimiting arm comprises a slot delimited by the last position stop and a first position stop of the cutting frame, the slot cooperating with a locking pin fixedly mounted on the cutting frame so as to limit the rotation of the cutting frame between the first and last positions. This feature makes it possible to limit the pivoting of the cutting frame relative to the travel frame between a first and a last position. Furthermore, it makes it possible to reduce the mounting play of the first axis of rotation between the travel frame and the cutting frame.
[0034] Preferably, the presence detector comprises: - a swing arm mounted pivotally on the cutting frame along a third axis of rotation, between a rest position and a final position, and comprising an arm extending perpendicularly to the third axis of rotation, having a lower end opposite the third axis of rotation, which, in the swing arm's rest position, extends beyond the spacing tab, and - a balance wheel position change sensor emitting a presence detection signal when the balance wheel is located in a push position between the excluded rest position and the included final position.
[0035] Such a feature makes it possible, through the combination of a balance wheel and a balance wheel position change sensor, to simplify the accuracy 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 guide's support area. This feature facilitates the movement of the 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 away from the spacing 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 includes an opening, and in the cutting position the cutting blade passes through the opening in the tab spacing. In the example where the link cutting carriage includes a clamping means, the clamping means further includes a slot or opening through which the cutting blade passes in the blade cutting position.
[0039] According to one embodiment, the cutting blade is mounted to move in translation on the cutting frame between a rest position and a cutting position and includes a cutting edge, the cutting blade moving in a plane contiguous to a lateral edge of the tongue along which: - in the rest position, the cutting edge is closer to the movement frame than the lateral edge of the cutting blade, and - in the cutting position, the cutting edge is further from the travel frame than the lateral edge of the cutting blade.
[0040] A second aspect of the invention relates to a spacer tab for a link cutting carriage according to the first aspect of the invention, the spacer tab being configured to be fixedly 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 link and a reference surface of a batch of elements so that the ramp surface separates the link from the reference surface of the batch of elements when moving the moving frame.
[0041] Advantageously, the spacer tab includes a concave face opposite 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 for cutting a tie surrounding a batch of elements to hold them together, by means of a tie-cutting carriage according to the first aspect of the invention comprising the following steps: - positioning of the link cutting carriage opposite a reference area of the batch of elements upstream of the link, - Movement of the cutting carriage forwards, along a translational axis, by sliding the guide on the reference surface, resulting in: • the pivoting of the cutting frame relative to the movement 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 • the sliding of the ramp surface of the spacer tab under the link and on the reference surface of the batch of elements until the link is detected by the presence detector, - cutting the link with the cutting blade.
[0044] Advantageously, the link cutting carriage includes a clamping means mounted between the travel frame and the cutting frame and the pivoting of the cutting frame relative to the travel frame is achieved under the action of the clamping means having a pressure regulated according to the force exerted by the guide on the reference surface of the batch of elements so that the front end of the spacing tab is in contact with the reference surface of the batch of elements.
[0045] Preferably, the link cutting carriage includes a locking actuator movably mounted on the cutting frame; the cutting process comprises: - after the link is detected by the presence detector and before the cutting step, a link locking step is performed 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 where the link is pinched against the spreader tab, by applying a force to the link against the ramp surface of the spreader tab, and - after the cutting step, a step of moving the cutting carriage links, resulting in the removal of the link from the batch of elements, the link being pinched between the locking actuator block and the spreading tab, - after the step of moving the link cutting carriage, a step of discarding the link into a container, by moving the link cutting carriage over the container and moving the locking actuator block from its pinching position to its resting position.
[0046] Advantageously, the cutting process includes, before the step of moving the cutting carriage opposite an area, a step of recognizing a positioning marker of the reference surface of the batch of elements, the area being determined according to the location of the positioning marker.
[0047] Advantageously, the positioning marker recognition step 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 process includes a step of transmitting non-detection information when the link cutting carriage is moved in translation beyond a predetermined position and / or when the presence detector has not detected a link.
[0049] A fourth aspect of the invention relates to a machine comprising: - a robot with a movable gripping head configured to grasp a batch of items, - a tie-cutting trolley according to the first aspect of the invention, the tie-cutting trolley being mounted to move 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 allows a batch of elements held together by a tie to be moved by means of the gripping head, and allows the tie to be cut by means of the integration of a tie-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 movablely mounted on the base, the gripping head being movablely mounted 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 grasp the reference surface of the batch of elements.
[0053] Advantageously, each gripping foot of the main body of the gripping head of the machine includes a suction cup arranged at its end.
[0054] Advantageously, the robot's gripping head includes at least one guide rail arranged in the main body, and the cutting frame of the cutting carriage includes guide wheels received in the rail of the gripping head so that the cutting frame translates by means of the actuator in translation the cutting frame relative to the gripping head.
[0055] A fifth aspect of the invention relates to an assembly comprising a gripping head including: - a main body, - the link cutting carriage according to the first aspect of the invention with or without the various optional or preferred features, the link cutting carriage being mounted movable in translation on the main body of the assembly, and - an actuator to move the link cutting carriage relative to the main body of the gripping head.
[0056] The invention and its various applications will be better understood by reading the following description and examining the accompanying figures. BRIEF DESCRIPTION OF THE FIGURES
[0057] Other advantages and features of the invention will become apparent from the following description, illustrated by the figures in which: Fig. 1 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 positioning step of a tie-cutting carriage relative to a batch of elements of a process according to which the gripping head of the robot is in a remote position relative to the batch of elements, and a cutting frame of the tie-cutting carriage is in a first position relative to a movement frame of the tie-cutting carriage; Fig. 2 is a schematic view of the machine, during the positioning step of the link cutting carriage according to Fig. 1, 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 robot's gripping head, according to 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 element batch; The [Fig.4] is a schematic view of the machine, during the step of moving the link cutting carriage according to the [Fig.4] whereby the link cutting carriage has been moved into a stop position relative to the link of the batch of element; Fig. 5 is a schematic view of the machine during a link locking step in which a locking actuator is shown in a pinch 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 link cutting step in 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; Figure 8 is a schematic view based on Figure 7, during a link retraction step in which the cutting blade returned to its rest position, the locking actuator remained in its pinched position, and the link is cut and the batch of elements is moved away from the robot's gripping head; - Fig. 9 is a side view of the link cutting carriage according to an example of a method of implementing the invention; - Fig. 10 is a side view of the link cutter carriage according to a second example of an embodiment of the invention. DETAILED DESCRIPTION
[0058] An example of an embodiment of a link-cutting trolley according to the invention and an example of an embodiment of a machine comprising a robot and an example of the link-cutting trolley are described in detail below, with reference to the accompanying drawings. These examples illustrate the features and advantages of the invention.
[0059] Unless otherwise specified, the same element appearing on different figures has a unique reference.
[0060] The invention relates to a tie-cutting trolley 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 including: - a main body 122 on which the link cutting carriage 200 is mounted movable, and - an actuator to move 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 joint 132 with the base 110 and a second pivot joint 134 with the gripping head 120; - the link cutting trolley 200, mounted movably relative to the gripping head 120 of the robot 100, and comprising: • a 202 transport chassis, • a cutting frame 204 mounted to move relative to the movement frame 202; and - the actuator (not shown) mounted on the gripping head 120 to move in translation the link cutting carriage 200 on the gripping head 120.
[0063] More specifically, 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 together.
[0064] In embodiments, the second pivot joint 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 includes gripping feet 124 fixedly mounted on the second face 122B of the main body 122. The gripping feet are configured to grasp the reference surface 30A of the batch of elements 30.
[0065] The gripping head 120 of the robot 100 is movable by pivoting 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, in 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 movable in pivoting relative to the reference surface 30A of the set of elements 30 between: - a distant position, shown in [Fig. 1], in which the second face 122B of the main body 122 is distanced 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 set of elements 30.
[0067] The gripping head 120 optionally includes a guide rail 126, in this case a double-rail guide, mounted on and arranged in the main body 122. The link cutter carriage 200 optionally includes guide wheels 203 mounted in the rail 126 for the translation of the travel frame 200 relative to to the gripping head 120 by means of the translational actuator. The guide wheels 203 are, in this example, each mounted on a corresponding shaft of the displacement 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 main body 122 of the gripping head 120, and - a final position, not shown, in which the cutting carriage is arranged closest to the front face 122C of the main body 122 of the gripping head 120.
[0069] The actuator, not shown, can be an electric motor moving the cutting carriage 200, for example by means of a chain and a toothed wheel mounted on the cutting carriage 200 or can be a cylinder, for example pneumatic.
[0070] The cutting frame 204, which is mounted to move relative to the movement frame 202, is in this case fixed in translation relative to the movement frame 202 and is therefore also moved in translation relative to the gripping head 120 by the same actuator. In this example, the cutting frame 204 is only movable in rotation relative to the movement frame 202 along an axis of rotation X2.
[0071] According to one embodiment, 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 mobile between: - a first position, shown in [Fig. 1], in which the cutting frame 204 is inclined towards the rear of the gripping head 120, - a final 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 set of elements 30.
[0073] Fig. 9 illustrates a first example of this embodiment of the 200 link cutter carriage and Fig. 10 illustrates a second example of this embodiment of the 200 link cutter carriage.
[0074] As illustrated in [Fig. 10], in one possible embodiment, the link cutting carriage 200 comprises: - a 210 mm spacing tab optionally mounted as a fixed element on the 204 mm cutting frame, - a 220 guide mounted securely at the front on the 204 cutting frame, - a presence detector 230 from link 32, and - a cutting blade 240 from link 32 mounted movably 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 locking actuator 250 mounted movably on the cutting frame 204 and actuated after detection of the link 32 by the presence detector 230, and - a 260 mm delimiting arm for pivoting the 204 mm cutting frame, mounted for mobilization and rotation: • relative to the displacement chassis 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.
[0075] By "fixed 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 means of fastening such as nuts, or be part of the same part as 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] Spacing tab 210:
[0079] More specifically, 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 set of elements 30 and a reference surface 30A of the set of elements 30 such that the ramp surface 212 moves the link 32 away from the reference surface 30A of the set of elements 30 during the movement of the displacement frame 202.
[0080] According to a first embodiment of the cutting carriage 200, as shown in figures 1 to 9, the ramp surface 212 of the spacer tongue 210 has a concave face opposite the cutting frame 204 of the cutting carriage 200.
[0081] According to a second embodiment of the cutting carriage 200 as shown in [Fig. 10], the cutting carriage 200 is identical to that of the first example except that the ramp surface 212 of the spacer tongue 210 has a convex face opposite the cutting frame 204 of the cutting carriage 200.
[0082] The spacer tab 210 can be configured according to the first or second example depending on the shape of the link 32 of the set 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 set of elements 30.
[0086] The guide 220 includes a front edge 220A arranged at the front of the front end 210A of the spacer tongue 210.
[0087] The guide 220 comprises strips of at least one rotating roller relative to the cutting frame 204 parallel to each other and forming the support area 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 cutter carriage 200 and comprises: - a rocker arm 232 mounted movably on the cutting frame 204 along a third axis of rotation X3 and comprising an arm 234 extending perpendicularly to the third axis of rotation X3 which includes a lower end 234A opposite to the third axis of rotation X3, and - a position change sensor for the balance wheel 232 emitting a presence detection signal when the balance wheel 232 is located between the excluded rest position and the included push position.
[0091] The position change sensor, not shown, can be in the form of a mechanical sensor, a displacement sensor or a presence sensor.
[0092] The rocker arm 232 of the presence detector 230 is movable by pivoting relative to the cutting frame, between: - a rest position, represented in [Fig.9], in which the lower end 234A of the arm 234 of the balance wheel 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, according to which the lower end 234A of the arm 234 of the balance wheel 232 is located above a plane defined by the ramp surface 212 of the spreading tongue 210.
[0093] During the translation of the link cutter carriage 200 towards the final position of the rocker arm 232 of the presence detector 230, the lower end 234A of the arm 234 of the rocker arm 232 comes into contact with the link 32 located on the spacer tab 210, causing the rocker arm 232 to pivot towards its final position and up to a predetermined push 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 link cutter carriage 200. In the push 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 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 set of elements 30 covered by the link 32, in detected position, or • in contact with the spacing tab 210.
[0097] In the examples shown, the cutting blade 240 includes a cutting edge, the cutting blade 240 moving in a plane contiguous to a lateral edge of the spacer tongue 210 according to which: - in the rest position, the cutting edge is closer to the travel frame 202 than the lateral edge of the cutting blade 240, and - in the cutting position, the cutting edge is further from the displacement 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 tongue 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 opening in the spacer tongue 210.
[0099] In some embodiments, the cutting blade is arranged in a cutting block mounted on the cutting frame 204. The cutting block is then mounted in a removable manner, so that the cutting blade 240 can be replaced easily and safely by an operator. For example, the cutting block is mounted on the cutting frame 204 by means of fasteners such as nuts.
[0100] Tackle medium 206:
[0101] The plating means 206 is mounted between the displacement frame 202 and the cutting frame 204 and is configured to rotate the cutting frame 204 relative to the displacement frame between its first position and its last position.
[0102] The plating 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 set of elements 30 during the movement of the cutting link carriage 200.
[0103] According to a first possible variant of the clamping means 206 as shown in [Fig. 9], the clamping means 206 is a compensating actuator, preferably a cylinder. The cylinder can be in the form of a pneumatic, hydraulic, or electric cylinder.
[0104] According to a second possible variant of the clamping means 206 not shown, the clamping means 206 is a spring.
[0105] Locking actuator 250:
[0106] According to an example of an embodiment of the locking actuator 250 as shown in [Fig.9], the locking actuator 250 includes 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 includes 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 pin 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 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 a position intermediate relative to the displacement chassis 202, sliding on the reference surface 30A of the set of elements 30 between: - an initial position then - an insertion position, shown in [Fig. 3], in which the front end 21 OA 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 set 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 machine removal method includes 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 process includes, for example, the following successive steps: - recognition of a positioning marker for the reference surface 30A of the batch of elements 30, the recognition area 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 the 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 of) the cutting carriage 200, said cutting carriage 200 being in the first position. Thus, the precise location of the link 32 is unknown; - movement of the gripping head 120 to its first position relative to the base 110 of the robot 100 ([Fig. 1 ]); - movement of the gripping head 120 from its distant position to its contact position (step from [Fig.1] to [Fig.2]); - positioning of the link cutting carriage 200 in a first position opposite an area of the reference surface 30A of the set of elements 30, upstream of the link 32 (step from [Fig.1] to [Fig.2]); - Movement of the link cutter carriage 200 forward, along a translation axis Y, by sliding the guide 220 on the reference surface 30A, resulting in: • the pivoting of the cutting frame 204 relative to the movement frame 202, so that the front end 210A of the tongue The spacing 210 is in contact with the reference surface 30A of the set of elements 30 depending on the contact of the guide 220 with the spacing 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 set of elements 30 (Figure 3), and • the sliding of the ramp surface 212 of the spacer tongue 210 under the link 32 and on the reference surface 30A of the set of elements 30 until the link 32 is detected by the presence detector 230 (figure 4); - blocking of the link 232 by moving the block 252 of the blocking actuator 250 from its rest position to its pinching position, by applying a force on the link 32 against the ramp surface 212 of the spreading tongue 210 ([Fig.5]); - movement of the gripping head 120 towards its last position, up to a predetermined position, for example according to a quantity of elements in the storage store, relative to the base 110 of the robot 100 ([Fig.6]); - cutting of link 32 by cutting blade 240 ([Fig.7]); - movement of the link-cutting carriage 200 resulting in the removal of link 32 from the set of elements 30, the link 32 being pinched between the block 252 of the locking actuator 250 and the spreading tab 210, ([Fig.8]); - Optionally, discarding the link 32 into a container, by moving the link cutting carriage 200 over the container and moving the block 252 of the locking actuator 250 from its pinch position to its rest position (not shown).
[0113] The removal process may further include 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 specifically, the positioning marker recognition step is for example carried out by a marking reader such as a barcode or QR code reader printed on the reference surface 30A of the batch of elements 30.
[0115] More specifically, during the forward movement step of the cutting carriage 200, the pivoting of the cutting frame 204 relative to the movement frame 202 is achieved under the action of the clamping means 206, which has a pressure regulated according to the force exerted by the guide 220 on the reference surface 30A of the set of elements 30, so that the front end 210A of the tongue spacing 210 is in contact with the reference surface 30A of the batch of elements 30.
Claims
Demands
1. Link cutting carriage (200) for cutting a link (32) surrounding a batch of elements (30) comprising: - a travel frame (202), - a cutting frame (204) movable relative to the travel frame (202), - a spacer tab (210) fixedly mounted 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 link (32) and a reference surface (30A) of the batch of elements (30) such that the ramp surface (212) separates the link (32) from the reference surface (30A) of the batch of elements (30) during the movement of the travel frame (202),- a guide (220) fixed to the front of the cutting frame (204) to guide and adjust the orientation of the front end (210A) of the spacer tab (210) relative to the reference surface (30A) 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. Link cutting carriage (200) according to claim 1, characterized in that it comprises a clamping means (206) mounted between the travel frame (202) and the cutting frame (204) and configured to rotate the cutting frame (204) between a first position and a last position, the clamping means (206) exerting a force on the cutting frame (204) towards the last position so that the front end (210A) of the spreader tab (210) is in contact with the reference surface (30A) of the batch of elements (30) during the movement of the link cutter carriage (200).
3. Link cutting carriage (200) according to any one of the preceding claims, characterized in that it comprises a locking actuator (250) movably mounted 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 spreading tab (210).
4. Link cutting carriage (200) according to any one of the preceding claims, characterized in that the spreading tab (210) comprises a concave face opposite the cutting frame (204).
5. Link cutter carriage (200) according to any one of the preceding claims, characterized in that the guide (220) comprises a front edge (220A) arranged at the front of the front end (210A) of the spreader tongue (210).
6. Link cutting carriage (200) according to any one of the preceding claims, characterized in that the spreading 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 travel frame (202) about 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 travel 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 slot (262) delimited by the last position stop (262B) and a first position stop (262A) of the cutting frame (204), the slot (262) cooperating with a locking pin (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 carriage (200) according to any one of the preceding claims, characterized in that the presence detector (230) comprises: - a rocker arm (232) mounted movably pivotally on the cutting frame (204) about a third axis of rotation (X3), between a rest position and a final position and having an arm (234) extending perpendicularly 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 rocker arm (232) extends beyond the spreader tab (210), and - a rocker arm (232) position change sensor emitting a presence detection signal when the rocker arm (232) is located in a push position between the excluded rest position and the included final position.
10. Link 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 area (222) of the guide (220).
11. A spacer tab (210) for a link-cutting carriage (200) according to any one of claims 1 to 10, the spacer tab (210) being configured to be fixedly 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 link (32) and a reference surface (30A) of a batch of elements (30) such that the ramp surface (212) separates the link (32) from the reference surface (30A) of the batch of elements (30) during movement of the travel frame (202), said spacer tab (210) comprising an opening such that, in a cutting position, a cutting blade (240) said link cutter trolley (200) crosses said opening of said spreader tongue (210).
12. Spacing tab (210) according to the preceding claim, characterized in that it comprises a concave face opposite the cutting frame (204).
13. Spacing 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. A method for cutting a tie (32) surrounding a batch of elements (30) to hold them together, by means of a tie-cutting carriage (200) according to any one of claims 1 to 10 comprising the following steps: - positioning the tie-cutting carriage (200) opposite an area of a reference surface (30A) of the batch of elements (30) upstream of the tie (32), - moving the tie-cutting carriage (200) forward, along a translational axis (Y), by sliding the guide (220) on the reference surface (30A) resulting in: • pivoting the cutting frame (204) relative to the movement frame (202) such that the front end of (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 tab spacing (210),• the sliding of the front end (210A) of the spacer tab (210) between the link (32) and the reference surface (30A) of the set of elements (30), 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 set 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. A cutting method according to the preceding claim, wherein the cutting carriage link (200) is according to claim 2 or according to any one of claims 3 to 10 in combination with claim 2, wherein the pivoting of the cutting frame (204) relative to the displacement frame (202) is carried out under the action of the clamping means (206) having a pressure regulated according to the force exerted by the guide (220) on the reference surface (30A) of the set of elements (30) so that the front end (210A) of the spacing tongue (210) is in contact with the reference surface (30A) of the set of elements (30).
16. Cutting method according to claim 14 or 15, characterized: - in that the cutting carriage link (200) comprises a locking actuator (250) movably mounted on the cutting frame (204), - and in that the cutting process comprises: • after the link (32) is detected by the presence detector (230) and before the cutting step, a link (232) locking step is performed 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 where the link (32) is pinched against the spreader tab (210), by applying a force to the link (32) against the ramp surface (212) of the spreader tab (210), and • after the cutting step, a step of moving the link cutting carriage (200) resulting in 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 spreading tab (210), • after the step of moving the link cutting carriage (200), a step of discarding the link (32) into a container, by moving the link cutting carriage (200) over the container and moving the block (252) of the locking actuator (250) from its pinch position to its rest position.
17. A cutting method according to any one of claims 14 to 16, characterized: - in that it includes, before the step of moving the link cutter carriage (200) opposite an area, a step recognition of a positioning marker of the reference surface (30A) of the batch of elements (30), - and in that the area is determined according to the location of the positioning marker.
18. Cutting method according to claim 17, characterized in that the positioning marker recognition step is carried out by a marking reader such as a barcode or QR code reader printed on the reference surface (30A) of the batch of elements (30).
19. Cutting method according to any one of claims 14 to 17, characterized in that it includes 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) having a movable gripping head (120) configured to grasp 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 movable 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 grasping head (120) of the robot (100) includes at least one guide rail (126) arranged in the main body (122), and the cutting frame (204) of the link cutting carriage (200) includes 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).